DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
Irene Rivas Blanco
Department of Syst...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
I. Introduction
II. Maneuver Recognit...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
I. INTRODUCTION
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
I. INTRODUCTION
• Surgical assistant ...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
I. INTRODUCTION
(HMM) (HMM)
• Intuiti...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
II. MANEUVER RECOGNITION
SYSTEM
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
II. MANUEVER RECOGNITION SYSTEM
Surgi...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
II. MANUEVER RECOGNITION SYSTEM
SENSO...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
II. MANUEVER RECOGNITION SYSTEM
• ANN...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
III. IMPLEMENTATION &
EXPERIMENTS
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
III. IMPLEMENTATION & EXPERIMENTS
Pol...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
III. IMPLEMENTATION & EXPERIMENTS
• E...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
Maneuver Training Validation Hits
Sut...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
IV. CONCLUSIONS
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
IV. CONCLUSIONS
• Human-Machine inter...
DepartmentofSysyem
EngineeeringandAutomation
Víctor F. Muñoz Martínez
Research lines
THANK YOU FOR YOUR ATTENTION
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BIOROB 2012 - Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches

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The work presented in this paper is focused on movement recognition as a first step to achieve the automation of a two-arm-surgical-robotic-system in the laparoscopic surgical environment. In order to accomplish coordination between the surgeon and the robotic assistant, a system able to recognize and differentiate between certain standard surgical maneuvers should be developed. Two different methodologies are proposed to model and identify several surgical maneuvers. The first method is based on Artificial Neural Networks (ANN), by codifying the movements through their Fourier spectra and the second one is based on HMMs which represents the interaction between the surgical tools. The proposed approaches will be tested through a set of experiments that mimic surgical movements as in tissue cutting, suturing and transporting. In this way, the recognition system is able to distinguish between the different maneuvers which have been modeled.

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BIOROB 2012 - Maneuvers Recognition in Laparoscopic Surgery: Artificial Neural Network and Hidden Markov Model Approaches

  1. 1. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines Irene Rivas Blanco Department of System Engineering and Automation University of Malaga MANEUVERS RECOGNITION IN LAPAROSCOPIC SURGERY: ARTIFICIAL NEURAL NETWORK AND HIDDEN MARKOV MODEL APPROACHES
  2. 2. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines I. Introduction II. Maneuver Recognition System III. Implementation & Experiments IV.Conclusions INDEX
  3. 3. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines I. INTRODUCTION
  4. 4. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines I. INTRODUCTION • Surgical assistant robot interfaces: Direct-Teleoperation Head tracking Voice commands Eyes trackingVision algorithms
  5. 5. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines I. INTRODUCTION (HMM) (HMM) • Intuitive and natural Human-Machine Interface: Maneuver Recognition System • Based on modeling the surgeon’s movements • Comparison between two modeling approaches: Artificial Neural Networks (ANN) and Hidden Markov Models (HMM) Four degrees of freedom
  6. 6. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. MANEUVER RECOGNITION SYSTEM
  7. 7. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. MANUEVER RECOGNITION SYSTEM Surgical Protocol Maneuver
  8. 8. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. MANUEVER RECOGNITION SYSTEM SENSORIAL SYSTEM PREPROCESSING DATA CODING DATA Surgical Tools’ movement Kalman filter Two Tracking 3D sensors ANN Fourier RECOGNITION SYSTEM HMM ANN Maneuver code Maneuver code Data numerical description Modeling of surgeon’s movements
  9. 9. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. MANUEVER RECOGNITION SYSTEM • ANN: Recognizes the trajectory of the tools’ tip FOURIERTrajectories ANN Maneuver Code Set of vectors CODING DATA RECOGNITION SYSTEM • HMM: Recognizes the interaction between the tools ANN Characteristic vector HMM1 Maneuver Code Observable code CODING DATA RECOGNITION SYSTEM HMM2 HMMn … MAX PROB.
  10. 10. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines III. IMPLEMENTATION & EXPERIMENTS
  11. 11. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines III. IMPLEMENTATION & EXPERIMENTS Polaris Spectra Markers CODE MANEUVER 1 Cutting 2 Suturing 3 Transporting
  12. 12. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines III. IMPLEMENTATION & EXPERIMENTS • Experiments: maneuvers recognition
  13. 13. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines Maneuver Training Validation Hits Suturing 150 35 94,29% Cutting 150 35 91,43% Transporting 150 35 94,29% ANN Maneuver Training Validation Hits Suturing 150 35 88,57% Cutting 150 35 82,86% Transporting 150 35 85,71% HMM III. IMPLEMENTATION & EXPERIMENTS • Experiments results:
  14. 14. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines IV. CONCLUSIONS
  15. 15. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines IV. CONCLUSIONS • Human-Machine interface to recognize maneuvers during a laparoscopic surgery • Comparison between two modeling approaches: Artificial Neural Networks and Hidden Markov Models • ANN is an intuitive approach, but it is based on trajectories analysis in a specific reference frame. • HMM provides an independent reference movement frame recognition system.
  16. 16. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines THANK YOU FOR YOUR ATTENTION

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