Title :
A case study of trajectory transfer through non-rigid registration for a simplified suturing scenario
Author :
Schulman, John ; Gupta, Arpan ; Venkatesan, S. ; Tayson-Frederick, Mallory ; Abbeel, Pieter
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Univ. of California at Berkeley, Berkeley, CA, USA
Abstract :
Suturing is an important yet time-consuming part of surgery. A fast and robust autonomous procedure could reduce surgeon fatigue, and shorten operation times. It could also be of particular importance for suturing in remote tele-surgery settings where latency can complicate the master-slave mode control that is the current practice for robotic surgery with systems like the da Vinci®. We study the applicability of the trajectory transfer algorithm proposed in [12] to the automation of suturing. The core idea of this procedure is to first use non-rigid registration to find a 3D warping function which maps the demonstration scene onto the test scene, then use this warping function to transform the robot end-effector trajectory. Finally a robot joint trajectory is generated by solving a trajectory optimization problem that attempts to find the closest feasible trajectory, accounting for external constraints, such as joint limits and obstacles. Our experiments investigate generalization from a single demonstration to differing initial conditions. A first set of experiments considers the problem of having a simulated Raven II system [5] suture two flaps of tissue together. A second set of experiments considers a PR2 robot performing sutures in a scaled-up experimental setup. The simulation experiments were fully autonomous. For the real-world experiments we provided human input to assist with the detection of landmarks to be fed into the registration algorithm. The success rate for learning from a single demonstration is high for moderate perturbations from the demonstration´s initial conditions, and it gradually decreases for larger perturbations.
Keywords :
biomedical optical imaging; end effectors; image registration; medical image processing; medical robotics; object detection; robot vision; telerobotics; 3D warping function; PR2 robot; da Vinci system; demonstration scene; landmark detection; laparoscopic procedures; master-slave mode control; nonrigid registration; remote telesurgery settings; robot end-effector trajectory; robot joint trajectory; robotic surgery; robust autonomous procedure; shorten operation times; simplified suturing scenario; simulated Raven II system; surgeon fatigue reduction; tissue flaps; trajectory optimization problem; trajectory transfer algorithm; Grippers; Joints; Needles; Robots; Surgery; Three-dimensional displays; Trajectory;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on
Conference_Location :
Tokyo
DOI :
10.1109/IROS.2013.6696945