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Surg. Robotics Summer School
7/20/2014
Hannaford 1
Telerobotic Surgery Research With the Raven™ Surgical System
Blake Hannaford
University of Washington
Dept. of Electrical Engineering
BioRobotics Laboratory
CMU Summer School 7.2014 1Blake Hannaford, University of Washington CMU Summer School 7.2014
Outline
Blake Hannaford, University of Washington
• Overview: big ideas• Haptics• Teleoperation• Surgical Skill
• Raven Surgical Robotics Research Platform• Goals• Adventures• Raven II• Architecture
• Intelligent Augmentation• Virtual Fixtures• Kinect Haptics• Laser liver resection demo (video)• Fundamentals of Laparoscopic Surgery Benchmark• Golf course/ Jetstream
• Behavior Trees
2Blake Hannaford, University of Washington
CMU Summer School 7.2014
Overview
Blake Hannaford, University of Washington 3Blake Hannaford, University of WashingtonBioRobotics Lab
CMU Summer School 7.2014
Haptics
Google 13-Sept-2013 Blake Hannaford, University of Washington
Touch!
Comet Temple 1May 2013Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014 May 2013Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014 May 2013Blake Hannaford, University of Washington
Surg. Robotics Summer School
7/20/2014
Hannaford 2
BioRobotics LabCMU Summer School 7.2014 May 2013Blake Hannaford, University of Washington
BioRobotics Lab8Blake Hannaford, University of Washington
BioRobotics Lab9Blake Hannaford, University of Washington
BioRobotics Lab10Blake Hannaford, University of Washington
BioRobotics Lab
Each h parameter corresponds to an important aspect of performance
Each h parameter corresponds to a mathematical boundary condition
Each h parameter corresponds to a well defined physical measurement
11Blake Hannaford, University of WashingtonBioRobotics Lab
12Blake Hannaford, University of Washington
Surg. Robotics Summer School
7/20/2014
Hannaford 3
BioRobotics Lab13Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014
Study Design
Rendering by Jeff Brown
Brown, Rosen, Barecca, Sinanan, Chang
• Measure positions, forces
and torques in MIS
procedures
• 30 subjects, 7 subtasks
each
• Experiments using R1-
Expert surgeons on
animals (pigs)
• Experiments performed in
Center for
Videoendoscopic Surgery
• IACUC approval
May 2013Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014 May 2013Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014 May 2013Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014 May 2013Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014
Typical Data
•Expert surgeon
•Forces and Positions
May 2013Blake Hannaford, University of Washington
Surg. Robotics Summer School
7/20/2014
Hannaford 4
BioRobotics LabCMU Summer School 7.2014
Hidden Markov Model
Observation Density
Observation Density
Observation Density
Observation Density
StatesTransition Matrix, A
Forces
Displacem
ents
Contact
Output+
VQ
Symbols
May 2013Blake Hannaford, University of WashingtonBioRobotics Lab
CMU Summer School 7.2014 May 2013Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014
HMM Approach
● Train a HMM for
each seniority group
● Compute distance
measure
● Skill assessment is
group with closest
distance
R1
R1
R5
R4
R3
R2
?
May 2013Blake Hannaford, University of WashingtonBioRobotics Lab
CMU Summer School 7.2014
HMM Distance Measure
1.0000
1.9972
5.07734.5722
3.8967
8.3436
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
R1 R2 R3 R4 R5 E
Training Level
Norm
aliz
ed S
tatistic
al D
ista
nce (
Mark
ov
Models
)
May 2013Blake Hannaford, University of Washington
BioRobotics LabCMU Summer School 7.2014
Video Analysis Score
34
60 60
75
86
100
0
20
40
60
80
100
R1 R2 R3 R4 R5 E
Training Level
Subje
ctive
Score
R1 (34.4, 8.34)
R2 (59.6, 3.9)
R3 (60.0, 4.6)
R4 (74.7, 5.1)
R5 (86.5, 2.0)
E (100, 1)
R2 = 0.8623
0
1
2
3
4
5
6
7
8
9
0 20 40 60 80 100
Subjective Analysis (Video Analysis)
Ob
jecti
ve A
naly
sis
(M
ark
ov M
od
el)
May 2013Blake Hannaford, University of Washington
![Motion Control and Interaction Control in Medical Robotics · · 2007-09-19Motion Control and Interaction Control in Medical Robotics Ph. POIGNET ... Haptic devices [Hannaford 99],](https://img.dokumen.tips/doc/110x75/5ad348677f8b9a665f8d7945/motion-control-and-interaction-control-in-medical-control-and-interaction-control.jpg)
