String motif-based description of tool motion for detecting skill and gestures in robotic surgery

Narges Ahmidi, Yixin Gao, Benjamín Béjar, S. Swaroop Vedula, Sanjeev Khudanpur, René Vidal, Gregory D. Hager

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

Abstract

The growing availability of data from robotic and laparoscopic surgery has created new opportunities to investigate the modeling and assessment of surgical technical performance and skill. However, previously published methods for modeling and assessment have not proven to scale well to large and diverse data sets. In this paper, we describe a new approach for simultaneous detection of gestures and skill that can be generalized to different surgical tasks. It consists of two parts: (1) descriptive curve coding (DCC), which transforms the surgical tool motion trajectory into a coded string using accumulated Frenet frames, and (2) common string model (CSM), a classification model using a similarity metric computed from longest common string motifs. We apply DCC-CSM method to detect surgical gestures and skill levels in two kinematic datasets (collected from the da Vinci surgical robot). DCC-CSM method classifies gestures and skill with 87.81% and 91.12% accuracy, respectively.

Original languageEnglish (US)
Title of host publicationMedical Image Computing and Computer-Assisted Intervention, MICCAI 2013 - 16th International Conference, Proceedings
Pages26-33
Number of pages8
EditionPART 1
DOIs
StatePublished - Oct 23 2013
Event16th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2013 - Nagoya, Japan
Duration: Sep 22 2013Sep 26 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume8149 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other16th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2013
CountryJapan
CityNagoya
Period9/22/139/26/13

Keywords

  • descriptive curve coding
  • descriptive models
  • geometry
  • gesture and skill classification
  • robotic surgery
  • surgical motion

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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