A computational framework for complementary situational awareness (CSA) in surgical assistant robots

Preetham Chalasani, Anton Deguet, Peter Kazanzides, Russell H Taylor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Robotic surgical systems have contributed greatly to the advancement of minimally invasive surgery (MIS). More specifically, telesurgical robots have provided enhanced dexterity to surgeons performing MIS procedures. However, current robotic teleoperated systems have only limited situational awareness of the patient anatomy and surgical environment that would typically be available to a surgeon in an open surgery. Although the endoscopic view enhances the visualization of the anatomy, perceptual understanding of the environment and anatomy is still lacking due to the absence of sensory feedback. To address these limitations, we present an algorithmic software framework to provide Complementary Situational Awareness (CSA) in a surgical assistant. This framework aims at improving the human-robot relationship by providing elaborate guidance and sensory feedback capabilities for the surgeon in complex MIS procedures. Unlike traditional teleoperation, this framework enables the user to telemanipulate the situational model in a virtual environment and uses that information to command the slave robot with appropriate admittance gains and environmental constraints. Simultaneously, the situational model is updated based on interaction of the slave robot with the task space environment. We provide various high-level and mid-level components to provide CSA and illustrate the necessary capabilities required for any robotic platform to readily incorporate CSA. We also demonstrate the use of our framework for constrained model-mediated teleoperation using the open-source da Vinci Research Kit (dVRK) hardware.

Original languageEnglish (US)
Title of host publicationProceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages9-16
Number of pages8
Volume2018-January
ISBN (Electronic)9781538646519
DOIs
StatePublished - Apr 2 2018
Event2nd IEEE International Conference on Robotic Computing, IRC 2018 - Laguna Hills, United States
Duration: Jan 31 2018Feb 2 2018

Other

Other2nd IEEE International Conference on Robotic Computing, IRC 2018
CountryUnited States
CityLaguna Hills
Period1/31/182/2/18

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Keywords

  • DVRK
  • Online estimation
  • Software framework
  • Teleoperation

ASJC Scopus subject areas

  • Control and Optimization
  • Artificial Intelligence
  • Software

Cite this

Chalasani, P., Deguet, A., Kazanzides, P., & Taylor, R. H. (2018). A computational framework for complementary situational awareness (CSA) in surgical assistant robots. In Proceedings - 2nd IEEE International Conference on Robotic Computing, IRC 2018 (Vol. 2018-January, pp. 9-16). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IRC.2018.00011