Work

Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree

Year: 2015

Type: conference-paper

Abstract: Medical robots have been widely used to assist surgeons to carry out dexterous surgical tasks via various ways. Most of the tasks require surgeon's operation directly or indirectly. Certain level of autonomy in robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of robot: high dexterity and accuracy. This paper presents a semi-autonomous neurosurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous robotic surgery, (2) modeling and implementing the semi-autonomous surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and robot performance analysis.

Source: Proceedings - IEEE International Conference on Robotics and Automation/Proceedings

DOI: 10.1109/icra.2015.7139738

Authors: Danying Hu, Yuanzheng Gong, Blake Hannaford, Eric J. Seibel

Institution: University of Washington

Language: English

Topic: Soft Robotics and Applications

Subfield: Biomedical Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Good health and well-being

Open Access status: green

Funders: National Institutes of Health, National Institute of Biomedical Imaging and Bioengineering