TY - GEN
T1 - A predictive model for haptic assistance in robot assisted trocar insertion
AU - Chowriappa, Ashirwad
AU - Wirz, Raul
AU - Seo, Yong Won
AU - Reddy, Aditya
AU - Kesavadas, Tushar
AU - Scott, Peter
AU - Guru, Khurshid
AU - Kesavadas, Thenkurussi
PY - 2013
Y1 - 2013
N2 - In this work we propose a new Prediction from Expert Demonstration (PED) methodology to provide haptic assistance in robot assisted trocar surgery. Data was collected from expert (clinician) demonstrations for the procedure of trocar insertion. We encode a set of force, torque and penetration trajectories by using a Gaussian Mixture Model (GMM). A generalization of these profiles and associated parameters are retrieved by Gaussian Mixture Regression (GMR). A haptic assistance mode was devised to help novices perform the procedure based on the proposed PED model. We validated the methodology for surgical assistance on (n= 15) participants. The PED haptic model was tested for instrument deviation, penetration force and penetration depth. Preliminary study results showed that participants with PED haptic assistance performed the task with more consistency and exerted lesser penetration force than subjects without assistance.
AB - In this work we propose a new Prediction from Expert Demonstration (PED) methodology to provide haptic assistance in robot assisted trocar surgery. Data was collected from expert (clinician) demonstrations for the procedure of trocar insertion. We encode a set of force, torque and penetration trajectories by using a Gaussian Mixture Model (GMM). A generalization of these profiles and associated parameters are retrieved by Gaussian Mixture Regression (GMR). A haptic assistance mode was devised to help novices perform the procedure based on the proposed PED model. We validated the methodology for surgical assistance on (n= 15) participants. The PED haptic model was tested for instrument deviation, penetration force and penetration depth. Preliminary study results showed that participants with PED haptic assistance performed the task with more consistency and exerted lesser penetration force than subjects without assistance.
KW - Gaussian Model
KW - Haptic
KW - Robot Assisted Surgery
KW - Surgical Assistance
KW - Trocar Insertion
UR - https://www.scopus.com/pages/publications/84881392633
U2 - 10.1109/WHC.2013.6548395
DO - 10.1109/WHC.2013.6548395
M3 - Conference contribution
AN - SCOPUS:84881392633
SN - 9781479900886
T3 - 2013 World Haptics Conference, WHC 2013
SP - 121
EP - 126
BT - 2013 World Haptics Conference, WHC 2013
T2 - 2013 IEEE World Haptics Conference, WHC 2013
Y2 - 14 April 2013 through 17 April 2013
ER -