An Open-Source Framework for Surgical Subtask Automation

An Open-Source Framework for Surgical Subtask Automation
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外科子任务自动化的开源框架

DOI：
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发表时间：
2018
期刊：
影响因子：
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通讯作者：
T. Haidegger
T. Haidegger
中科院分区：
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文献类型：
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作者：
T. D. Nagy;T. Haidegger

文献摘要

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机器人辅助手术（RAS）正在成为微创手术（MIS）的标准。尽管RAS具有优势和潜力，但外科医生仍然必须执行一些单调且耗时的子任务，如打结- 打结或钝性剥离。许多人认为，发展的下一个重大步骤是这些子任务的自动化。部分自动化可以减少外科医生的认知负荷，支持他们更多地关注手术工作流程中最关键的元素。我们的目标是开发一个框架来简化和加快手术子任务的自动化。该框架与da芬奇研究工具包（dVRK）一起构建，同时它可以很容易地移植到其他机器人平台上，因为它基于机器人操作系统（ROS）。该软件包括基于立体视觉和分层运动规划，以及广泛的常用手术手势，如抓取，切割或软组织操作，作为构建模块，以支持自主手术子任务的高层次实施。这个开源的外科手术自动化框架irob-saf可以在https://github.com/ABC-iRobotics/irob-saf上找到。
Robot-Assisted Surgery (RAS) is becoming a standard in Minimally Invasive Surgery (MIS). Despite RAS’ benefits and potential, surgeons still have to perform themselves a number of monotonous and time-consuming subtasks like knot- tying or blunt dissection. Many believe that the next big step in development is the automation of such subtasks. Partial automation can reduce the cognitive load on surgeons, supporting them to pay more attention to the most critical elements of the surgical workflow. Our aim was to develop a framework to ease and fasten the automation of surgical subtasks. This framework was built alongside the da Vinci Research Kit (dVRK), while it can be ported easily onto further robotic platforms, since it is based on the Robot Operating System (ROS). The software includes both stereo vision-based and hierarchical motion planning, with a wide palette of often used surgical gestures—such as grasping, cutting or soft tissue manipulation—as building blocks to support the high-level implementation of autonomous surgical subtasks. This open-source surgical automation framework—irob-saf—is available at https://github.com/ABC-iRobotics/irob-saf.