SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
IROS 2009 : INTERNATIONAL CONFERENCE ON I...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
Minimally Invasive Surgery Maneuver Recog...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
Minimally Invasive Surgery Maneuver Recog...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
I. Introduction
Laparoscopic Surgery:
“Ac...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
I. Introduction
COMMERCIAL SYSTEMS OF SUR...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
I. Introduction
INTERFACE OF THE ROBOTIC ...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
Minimally Invasive Surgery Maneuver Recog...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
THE WORKFLOW OF A SURGICAL PROCEDURE
II. ...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
SET OF BASIC ACTIONS OF A MANEUVER
II. In...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
INTERVENTION MODEL
II. Intervention Model...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
Minimally Invasive Surgery Maneuver Recog...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
LIBRARY OF MANEUVER MODELS
III. Surgeon B...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
DATA ACQUISITION AND CODING MODULE
III. S...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
MODULE OF MANEUVER TRAINING
III. Surgeon ...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
MODULE OF MANEUVER RECOGNITION
III. Surge...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
MODULE OF MANEUVER RECOGNITION
III. Surge...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
Minimally Invasive Surgery Maneuver Recog...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
• Simplification of the reality.
• Recogn...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
MANEUVER MODEL
IV Implementation and Expe...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
Minimally Invasive Surgery Maneuver Recog...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
Minimally Invasive Surgery Maneuver Recog...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
Minimally Invasive Surgery Maneuver Recog...
SystemEngineeringand
AutomationDepartment
M. Belén Estebanez Campos
belen@uma.es
THANKS FOR YOUR ATTENTION
IROS 2009 : INT...
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[11-15 Oct 2009] Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model

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This paper proposes a new user interface based on a maneuver recognition system, which models the surgeon behavior. This interface includes three different modules: data acquisition and coding, training system and on-line recognition system. The aim is defined as recognizing the surgeon movements while is performing a surgical maneuver, by using a 3D surgical tool tracker. The obtained measurements are converted in to movement symbols by means of a Wavelet transform and a fuzzy clustering. These symbols are used both for training HMM and for recognizing the current maneuver. The system has been tested in some in-vitro experiments performing a fictitious surgical protocol.

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[11-15 Oct 2009] Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model

  1. 1. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es IROS 2009 : INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS MINIMALLY INVASIVE SURGERY MANEUVER RECOGNITION BASED ON SURGEON MODEL B. Estebanez, G. Jimenez, V. Muñoz, I. Garcia-Morales, E. Bauzano and J. Molina Dpto. Ingeniería de Sistemas y Automática http://www.isa.uma.es Universidad de Málaga (Spain)
  2. 2. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model OUTLINE I. Introduction II. Intervention Model III.Surgeon Behavior Model IV.Implantation and Experiments V. Conclusions and Future Works
  3. 3. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model I. INTRODUCTION
  4. 4. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es I. Introduction Laparoscopic Surgery: “Accessing to the abdominal cavity with especial long instruments and by means of an endoscope with camera can be seen the area of the operation.” LAPAROSCOPIC SURGERY Advantages • Reduce recovery time • Limit post-operative complications • Lower scars Constraints • Movement limitations •Techniques require high skill • Loss of touch and 3D perception • Hand-eye coordination problems
  5. 5. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es I. Introduction COMMERCIAL SYSTEMS OF SURGICAL ROBOT Zeus Da Vinci
  6. 6. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es I. Introduction INTERFACE OF THE ROBOTIC ASSISTANT OF TWO ARMS Robotic Assistant of Two Arms Surgeon and tools with marks Computer with Recognition System Operation Room Surgical Tool Surgeon 3D Tracker
  7. 7. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model II. INTERVENTION MODEL
  8. 8. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es THE WORKFLOW OF A SURGICAL PROCEDURE II. Intervention Model START Dissecting tissue to expose cystic duct Clipping cystic duct Cutting cystic duct Dissecting/Separating Gallbladder Collecting Gallbladder END First Maneuver Second Maneuver Third Maneuver Fourth Maneuver Fifth Maneuver Sixth Maneuver Final Maneuver
  9. 9. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es SET OF BASIC ACTIONS OF A MANEUVER II. Intervention Model Four degrees of freedom Maneuver: set of basic actions that represent the instrument movements: left-right, up-down, to rotate on itself and insertion- removal. Others functions are clamp opening and closing. Each maneuver is identified as a specific sequence of these basic actions.
  10. 10. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es INTERVENTION MODEL II. Intervention Model UPPER LAYER INNER LAYER
  11. 11. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model III. SURGEON BEHAVIOR MODEL
  12. 12. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es LIBRARY OF MANEUVER MODELS III. Surgeon Behavior Model Off-line process MODULE OF MANEUVER TRAINING LIBRARY OF MANEUVER MODELS On-line process MODULE OF MANEUVER RECOGNITION DATA ACQUISITION AND CODING MODULE
  13. 13. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es DATA ACQUISITION AND CODING MODULE III. Surgeon Behavior Model CHARACTERISTIC EXTRACTION FUZZY LABELING Characteristic Vector of a Movement Signals of Movements of surgical tools Current Movement Label Observable Output
  14. 14. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es MODULE OF MANEUVER TRAINING III. Surgeon Behavior Model DATA ACQUISITION AND CODING MODULE MODULE OF MANEUVER TRAINING LIBRARY OF MANEUVER MODELS Action Type Position and Orientation of Tools Outputs Sequence Parameters of a Maneuver Model Surgeon
  15. 15. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es MODULE OF MANEUVER RECOGNITION III. Surgeon Behavior Model Surgeon DATA ACQUISITION AND CODING MODULE Change Condition of Maneuver Position and Orientation of Tools MODULE OF MANEUVER RECOGNITION LIBRARY OF MANEUVER MODELS Outputs Sequence INTERVENTION MODEL Current Maneuver Parameters of a Maneuver Model
  16. 16. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es MODULE OF MANEUVER RECOGNITION III. Surgeon Behavior Model Change Condition of Maneuver Outputs Sequence INTERVENTION MODEL Current Maneuver Maneuver with High Probability LIBRARY OF MANEUVER MODELS Maneuver 1 (A1 , B1 matrixes) Maneuver 2 (A2 , B2 matrixes) Maneuver 3 (A3 , B3 matrixes) Maneuver N (AN , BN matrixes) ViITERBI ALGORITHM
  17. 17. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model IV. IMPLEMENTATION AND EXPERIMENTS
  18. 18. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es • Simplification of the reality. • Recognition of trajectories of tool tip. • The basic actions are lines with different angles and directions. • Library has geometrical figures like circle, square and triangle. • A protocol is a sequence of these maneuvers. 1800 1900 200 -250 -200 -150 -100 -50 -300 -200 -100 0 100 200 300 400 xy (mm) z(mm) EXPERIMENTAL SYSTEM SETUP IV Implementation and Experiments Tool Tip Fulcrum Hand
  19. 19. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es MANEUVER MODEL IV Implementation and Experiments RECOGNITION RESULTS End A 4 A 2A 1 A 3 Start Table 1. Isolated Maneuvers Trajectory % Real Correct Answer (100 essays / maneuver) CIRCLE 98.35 % SQUARE 100.00 % TRIANGLE 95.87 % Table 2. Protocols Trajectory % Ideal Correct Answer (50 essays /protocol) % Real Correct Answer (50 essays / protocol) 90.39 % 85.00 % 91.20 % 82.50 % 94.29 % 81.00 %
  20. 20. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model V. CONCLUSIONS AND FUTURE WORKS
  21. 21. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model CONCLUSIONS A methodology has been established for modeling the surgical behavior: acquisition and coding, off-line training and on-line recognition . The HMM are useful for surgeon maneuver recognition. Limitations The performance of the system can be affected by the shadows during the instrument tracking.  Improvement of the maneuver ending condition detection. The experiments are about fictitious maneuver and are dependent on the figure orientation.
  22. 22. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es Minimally Invasive Surgery Maneuver Recognition Based On Surgeon Model FUTURE WORKS Acquisition of information inside an operation room. Inclusion of other useful information. Signal reconstruction in instrument shadows situation. Design of new real maneuver models, including the movements of two instruments. Integration of this recognition module in the global system of two arms.
  23. 23. SystemEngineeringand AutomationDepartment M. Belén Estebanez Campos belen@uma.es THANKS FOR YOUR ATTENTION IROS 2009 : INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS

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