Robotic path planning for surgeon skill evaluation in minimally-invasive sinus surgery

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

Abstract

We observe that expert surgeons performing MIS learn to minimize their tool path length and avoid collisions with vital structures. We thus conjecture that an expert surgeon’s tool paths can be predicted by minimizing an appropriate energy function. We hypothesize that this reference path will be closer to an expert with greater skill, as measured by an objective measurement instrument such as Objective Structured Assessment of Technical Skill (OSATS). To test this hypothesis, we have developed a Surgical Path Planner (SPP) for Functional Endoscopic Sinus Surgery (FESS). We measure the similarity between an automatically generated reference path and surgical motions of subjects. We also develop a complementary similarity metric by translating tool motion to a coordinate-independent coding of motion, which we call the Descriptive Curve Coding (DCC) method. We evaluate our methods on surgical motions recorded from FESS training tasks. The results show that the SPP reference path predicts the OSATS scores with 88% accuracy. We also show that motions coded with DCC predict OSATS scores with 90% accuracy. Finally, the combination of SPP and DCC identifies surgical skill with 93% accuracy.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention, MICCAI2012 - 15th International Conference, Proceedings
EditorsNicholas Ayache, Herve Delingette, Polina Golland, Kensaku Mori
PublisherSpringer Verlag
Pages471-478
Number of pages8
ISBN (Print)9783642334146
DOIs
StatePublished - 2012
Event15th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2012 - Nice, France
Duration: Oct 1 2012Oct 5 2012

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume7510 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other15th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2012
CountryFrance
CityNice
Period10/1/1210/5/12

Keywords

  • Minimally invasive surgery
  • Motions curvature representation
  • OSATS
  • Robotic path planning
  • Skill evaluation
  • Support vector machine

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Fingerprint Dive into the research topics of 'Robotic path planning for surgeon skill evaluation in minimally-invasive sinus surgery'. Together they form a unique fingerprint.

Cite this