Towards "real-time" tool-tissue interaction detection in robotically assisted laparoscopy

Sandrine Voros (1) , Gregory D. Hager (2)

1 CIRL
2 Laboratory for Computational Sensing and Robotics, Johns Hopkins University

The real-time detection of surgeonpsilas action could be very useful for intelligent intraoperative assistance. Robotic assisted surgery provides quantified information that can be used to detect these actions. In this paper we present our attempt at spotting tool-tissue interactions from real surgery data, in the context of robotic assisted laparoscopy with the daVincitrade system, using both kinematic information and visual information. Our early results are encouraging in this very challenging context.

Domaines: Traitement des images [eess.IV]; Robotique [cs.RO]; Autre [cs.OH]; Ingénierie biomédicale

Sandrine Voros, Gregory D. Hager. Towards "real-time" tool-tissue interaction detection in robotically assisted laparoscopy. 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008. BioRob 2008., Oct 2008, Scottsdale, AZ, United States. pp.562 - 567, ⟨10.1109/BIOROB.2008.4762915⟩. ⟨hal-00846102⟩