A Multirobots Teleoperated Platform for Artificial Intelligence Training Data Collection in Minimally Invasive Surgery
A Multirobots Teleoperated Platform for Artificial Intelligence Training Data Collection in Minimally Invasive Surgery
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用于微创手术中人工智能训练数据收集的多机器人远程操作平台
DOI：
10.1109/ismr.2019.8710209
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
R. Muradore
中科院分区：
文献类型：
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作者：
F. Setti;E. Oleari;A. Leporini;D. Trojaniello;A. Sanna;U. Capitanio;F. Montorsi;A. Salonia;R. Muradore
手术机器人的灵活性和感知能力可能很快就会通过认知功能得到改善，这些功能可以支持外科医生进行决策和性能监控，并增强手术室内自动化的影响。目前，机器人手术中自主性的基本要素还没有得到很好的理解，它们之间的相互作用也没有得到探索。目前的自主性分类包括六个基本级别：0级：无自主性; 1级：机器人辅助; 2级：任务自主性; 3级：条件自主性; 4级：高度自主性。第五层：完全自主。每个层次的实际意义和从一个层次到下一个层次的必要技术是激烈辩论和发展的主题。在本文中，我们讨论了欧洲资助的项目智能自主机器人助理外科医生（SARAS）的第一批成果。SARAS将开发一种认知架构，能够通过先进的机器学习算法，基于术前知识和场景理解做出决策。为了实现这个雄心勃勃的目标，使我们能够达到1级和2级，收集可靠的数据来训练算法至关重要。我们将介绍实验装置，以收集非常复杂的人体模型（即膨胀的人类腹部的幻影）上的复杂外科手术（机器人辅助根治性前列腺切除术）的数据。SARAS平台允许主刀医生和助手远程操作两个独立的双臂机器人。通过该平台获得的数据（视频，运动学，音频）将用于我们的项目，并将发布（带注释）用于研究目的。
Dexterity and perception capabilities of surgical robots may soon be improved by cognitive functions that can support surgeons in decision making and performance monitoring, and enhance the impact of automation within the operating rooms. Nowadays, the basic elements of autonomy in robotic surgery are still not well understood and their mutual interaction is unexplored. Current classification of autonomy encompasses six basic levels: Level 0: no autonomy; Level 1: robot assistance; Level 2: task autonomy; Level 3: conditional autonomy; Level 4: high autonomy. Level 5: full autonomy. The practical meaning of each level and the necessary technologies to move from one level to the next are the subject of intense debate and development. In this paper, we discuss the first outcomes of the European funded project Smart Autonomous Robotic Assistant Surgeon (SARAS). SARAS will develop a cognitive architecture able to make decisions based on pre-operative knowledge and on scene understanding via advanced machine learning algorithms. To reach this ambitious goal that allows us to reach Level 1 and 2, it is of paramount importance to collect reliable data to train the algorithms. We will present the experimental setup to collect the data for a complex surgical procedure (Robotic Assisted Radical Prostatectomy) on very sophisticated manikins (i.e. phantoms of the inflated human abdomen). The SARAS platform allows the main surgeon and the assistant to teleoperate two independent two-arm robots. The data acquired with this platform (videos, kinematics, audio) will be used in our project and will be released (with annotations) for research purposes.