论文标题
使用DA Vinci机器人对自动手术操作应用深度感应
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
论文作者
论文摘要
如1920x1200分辨率和每秒Zivid RGBD摄像头13帧所示，深度感应的最新进展显着提高了精度，分辨率和帧速率。在这项研究中，我们探讨了深度感测的潜力，以实现手术子任务的有效和可靠的自动化。我们考虑使用Da Vinci Research套件（DVRK）实施的腹腔镜外科手术训练套件的PEG转移任务的单色（所有红色）版本。我们使用校准技术，使得在任务空间中，不精确的电缆驱动的DA Vinci将误差从4-5 mm降低到1-2毫米。我们报告了无移交版本的PEG传输任务的实验结果，该任务分别进行了20和5个物理发作，分别具有单侧和双边臂设置。结果超过236和49的单个和双侧臂PEG转移案例的总块转移尝试表明，每个单独的块可以以86.9％和78.0％的速度实现可靠性，而相应的块转移速度为10.02和5.72秒。补充材料可在https://sites.google.com/view/peg-transfer上获得。
Recent advances in depth-sensing have significantly increased accuracy, resolution, and frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD camera. In this study, we explore the potential of depth sensing for efficient and reliable automation of surgical subtasks. We consider a monochrome (all red) version of the peg transfer task from the Fundamentals of Laparoscopic Surgery training suite implemented with the da Vinci Research Kit (dVRK). We use calibration techniques that allow the imprecise, cable-driven da Vinci to reduce error from 4-5 mm to 1-2 mm in the task space. We report experimental results for a handover-free version of the peg transfer task, performing 20 and 5 physical episodes with single- and bilateral-arm setups, respectively. Results over 236 and 49 total block transfer attempts for the single- and bilateral-arm peg transfer cases suggest that reliability can be attained with 86.9 % and 78.0 % for each individual block, with respective block transfer speeds of 10.02 and 5.72 seconds. Supplementary material is available at https://sites.google.com/view/peg-transfer.
