Towards automatic skill evaluation: detection and segmentation of robot-assisted surgical motions.
Towards automatic skill evaluation: detection and segmentation of robot-assisted surgical motions.
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DOI：
10.1080/10929080600989189
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发表时间：
2006-09-01
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影响因子：
--
通讯作者：
Hager, Gregory D
中科院分区：
文献类型：
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作者：
Lin, Henry C;Shafran, Izhak;Hager, Gregory D
本文报告了我们的进展，在开发技术“解析”的原始运动数据从一个简单的手术任务到一个标记序列的手术手势。自动检测和分割手术运动的能力可用于评估手术技能、提供手术培训反馈或记录手术的基本方面。如果在线处理，则该信息可用于向外科医生提供特定于上下文的信息或运动增强。然而，在每种情况下，关键步骤是将记录的运动数据与正在执行的程序的模型相关联。诸如Intuitive Surgical的da芬奇系统之类的机器人手术系统提供了来自手术过程的运动和视频数据的丰富来源。da芬奇的应用程序编程接口（API）以10 Hz输出192个运动学值。通过一系列的特征处理步骤，量身定制的这项任务，高度冗余的功能被投射到一个紧凑的和歧视性的空间。交叉验证实验表明，该方法在4次手势分割任务中，对于专家级和中级外科医生，都能达到90%以上的准确率。这些初步结果表明，可以提取特定于手势的特征，以提供高度准确的手术技能评估。
This paper reports our progress in developing techniques for "parsing" raw motion data from a simple surgical task into a labeled sequence of surgical gestures. The ability to automatically detect and segment surgical motion can be useful in evaluating surgical skill, providing surgical training feedback, or documenting essential aspects of a procedure. If processed online, the information can be used to provide context-specific information or motion enhancements to the surgeon. However, in every case, the key step is to relate recorded motion data to a model of the procedure being performed. Robotic surgical systems such as the da Vinci system from Intuitive Surgical provide a rich source of motion and video data from surgical procedures. The application programming interface (API) of the da Vinci outputs 192 kinematics values at 10 Hz. Through a series of feature-processing steps, tailored to this task, the highly redundant features are projected to a compact and discriminative space. The resulting classifier is simple and effective.Cross-validation experiments show that the proposed approach can achieve accuracies higher than 90% when segmenting gestures in a 4-throw suturing task, for both expert and intermediate surgeons. These preliminary results suggest that gesture-specific features can be extracted to provide highly accurate surgical skill evaluation.