TY - GEN
T1 - An open-source platform for cooperative, semi-autonomous robotic surgery
AU - Connolly, Laura
AU - Deguet, Anton
AU - Sunderland, Kyle
AU - Lasso, Andras
AU - Ungi, Tamas
AU - Rudan, John F.
AU - Taylor, Russell H.
AU - Mousavi, Parvin
AU - Fichtinger, Gabor
N1 - Funding Information:
Laura Connolly was supported by NSERC and CIHR. G. Fichtinger is supported as a Canada Research Chair. This work was funded, in part, by CANARIE's Research Software Program
Funding Information:
Laura Connolly was supported by NSERC and CIHR. G. Fichtinger is supported as a Canada Research Chair. This work was funded, in part, by CANARIE’s Research Software Program.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/11
Y1 - 2021/8/11
N2 - Introduction: In this paper, we present and assess a proof of concept platform for semi-autonomous, cooperative robotic surgery. The platform is easily reproducible thanks to simple hardware components and open-source software. Moreover, the design accommodates open, soft tissue surgeries that recent advancements in surgical robotics do not generally focus on. Methods: The system is made up of an inexpensive robotic manipulator, a navigation system and a software interface. Accuracy measurement is performed on a rigid phantom that mimics the conditions of breast conserving surgery (BCS) as an example of a surgical use case. Results: The average target registration error (TRE) and fiducial registration error (FRE) of the system is within 1 mm. This indicates that the navigation system is sufficient for certain surgical applications such as BCS. The platform can also be easily replicated and used in a lab or home environment.
AB - Introduction: In this paper, we present and assess a proof of concept platform for semi-autonomous, cooperative robotic surgery. The platform is easily reproducible thanks to simple hardware components and open-source software. Moreover, the design accommodates open, soft tissue surgeries that recent advancements in surgical robotics do not generally focus on. Methods: The system is made up of an inexpensive robotic manipulator, a navigation system and a software interface. Accuracy measurement is performed on a rigid phantom that mimics the conditions of breast conserving surgery (BCS) as an example of a surgical use case. Results: The average target registration error (TRE) and fiducial registration error (FRE) of the system is within 1 mm. This indicates that the navigation system is sufficient for certain surgical applications such as BCS. The platform can also be easily replicated and used in a lab or home environment.
KW - Cooperative robotics.
KW - Open source medical robotics
KW - Semiautonomous robotic surgery
KW - Soft tissue surgery
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U2 - 10.1109/ICAS49788.2021.9551149
DO - 10.1109/ICAS49788.2021.9551149
M3 - Conference contribution
AN - SCOPUS:85117465587
T3 - ICAS 2021 - 2021 IEEE International Conference on Autonomous Systems, Proceedings
BT - ICAS 2021 - 2021 IEEE International Conference on Autonomous Systems, Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Autonomous Systems, ICAS 2021
Y2 - 11 August 2021 through 13 August 2021
ER -