Learning manipulation skills from open surgery provides more flexible access to the organ targets in abdomen cavity and this could make surgical robot working a highly intelligent friendly manner. Teaching by demonstration (TbD) is capable of transferring human humanoid robots employing active learning multiple demonstrated tasks. This work aims transfer motion demonstrations manipulators robot-assisted minimally invasive (RA-MIS) using TbD. However, kinematic constraint should be respected...

Background and Aims: Colorectal cancer (CRC) is a major cause of morbidity mortality worldwide. Despite offering prime paradigm for screening, CRC screening often hampered by invasiveness. Endoo potentially painless colonoscopy method with an active locomotion tethered capsule diagnostic therapeutic capabilities. Materials Methods: The system comprises soft-tethered capsule, which embeds permanent magnet controlled external robot equipped second magnet. Capsule navigation achieved via...

Hands-on training is an indispensable part of surgical practice. As the tools used in operating room become more intricate, demand for efficient methods increases. This work proposes a robotic assistance-as-needed method with teleoperated robots. The adapts intensity assistance according to trainee's current and past performance while gradually increasing level control trainee as progresses. includes experiment comprising 160 acquisition sessions from 16 novice subjects performing bimanual...

A chromogenically reversible, mechanochromic pressure sensor is integrated into a mininvasive surgical grasper compatible with the da Vinci robotic system. The sensorized effector, also featuring two soft-material jaws, encompasses polymeric inset doped functionalized spiropyran (SP) molecule, designed to activate mechanochromism at chosen and providing reversible color change. Considering such tools are systematically in visual field of operator during surgery, change effector can help...

Objective: Virtual Reality (VR) simulators represent a remarkable educational opportunity in order to acquire and refine surgical practical skills. Nevertheless, there exists no consensus regarding standard curriculum of simulation-based training. This study introduces an automatic, adaptive where the training session is real-time scheduled on basis trainee's performances. Methods: An experimental using master console da Vinci Research Kit (Intuitive Surgical Inc., Sunnyvale, US) was carried...

Robot-Assisted systems for Minimally Invasive Surgery enhance the surgeon capability, however, direct control over both surgical tools and endoscope results in an increased workload that leads to longer operation times. This work investigates introduction of SCAN (System Camera Autonomous Navigation) overcome this limitation. An experimental study involving 12 participants was carried out with da Vinci Research Kit. Each user tested two novel camera modalities, autonomous semi-autonomous, as...

Training with simulation systems has become a primary alternative for learning the fundamental skills of robotic surgery. However, there exists no consensus regarding standard training curriculum: sessions defined priori by expert trainers or self-directed trainees feature lack consistency. This study proposes an adaptive approach that structures curriculum on basis objective assessment trainee's performance. The work comprised experimental session 12 participants performing virtual reality...

Robot-Assisted Surgery enhances vision and it can restore depth perception, but introduces the need for learning how to tele-operatively control both surgical tools endoscope. Together with complexity of selecting optimal viewpoint carry out procedure, this requires distinct training. This work proposes an autonomous camera navigation during initial stages training in order optimize these skills. A user study involving 26 novice participants was carried using master console da Vinci Research...

The use of large datasets is essential in surgical robotics to advance the field recognition and automation tasks. Furthermore, public allow comparison different algorithms methods evaluate their performance. objective this work provide a complete dataset three common training tasks performed with da Vinci Research Kit (dVRK). contains total 206 trials by twelve subjects. For each trial, includes 154 kinematic variables from dVRK (both master slave sides) together associated video recorded...

Robot-assisted minimally invasive surgery (RAMIS) is gaining widespread adoption in many surgical specialties, despite the lack of a standardized training curriculum. Current approaches rely heavily on virtual reality simulators, particular for basic psychomotor and visuomotor skill development. It not clear, however, whether equivalent to inanimate model training. In this manuscript, we seek compare training, with regard learning transfer. Using custom-developed needle-driving task analogs,...

The integration of intra-operative sensors into surgical robots is a hot research topic since this can significantly facilitate complex procedures by enhancing awareness with real-time tissue information. However, currently available sensing technologies are mainly based on image processing and force feedback, which normally require heavy computation or complicated hardware modifications existing tools. This paper presents the design electrical bio-impedance commercial robot tool, leading to...

Robots for minimally invasive surgery introduce many advantages, but still require the surgeon to alternatively control surgical instruments and endoscope. This work aims at providing autonomous navigation of endoscope during a procedure. The motion was based on kinematic tracking integrated with da Vinci Research Kit. A preclinical usability study conducted by 10 urologists. They carried out an ex vivo orthotopic neobladder reconstruction twice, using both traditional control. system tested...

Nowadays, robot assisted surgery training relies more and on computer-based simulation. However, the application of such technologies is still limited to early stages practical training. To broaden usefulness simulators, multi-sensory feedback augmentation has been recently investigated. This study aims at combining initial predictive (guidance) subsequent error-based (feedback) in visual haptic domain. 32 participants performed 30 repetitions a virtual reality task resembling needle-driving...

Abstract The number of robot-assisted minimally invasive surgeries is increasing annually, together with the need for dedicated and effective training. Surgeons to learn how address novel control modalities surgical instruments loss haptic feedback, which a common feature most robots. High-fidelity physical simulation has proved be valid training tool, it might help in fulfilling these learning needs. In this regard, high-fidelity sensorized simulator vascular structures was designed,...

Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements surgical programs both physical and virtual environments, it imperative to develop generalizable methods automatically assessing skills. In this paper, we propose a novel approach by transferring domain knowledge from labeled kinematic data unlabeled data. Our leverages common tasks such as Suturing, Needle Passing, Knot Tying jointly train model with Pseudo...

Camera navigation in minimally invasive surgery changed significantly since the introduction of robotic assistance. Robotic surgeons are subjected to a cognitive workload increase due asynchronous control over tools and camera, which also leads interruptions workflow. motion automation has been addressed as possible solution, but still lacks situation awareness. We propose an online surgical Gesture Recognition for Autonomous Camera-motion Enhancement (GRACE) system introduce awareness...

Identification of paroxysmal atrial fibrillation (AF) can be difficult and undiagnosed AF patients are at high risk cardioembolic stroke or other complications associated with AF.The aim this study is to analyze the video photoplethysmografic (vPPG) signal obtained from a videocamera explore possibility discriminating normal sinus rhythm (NSR) arrhythmias (ARR).We acquired 24 3-min long face-videos (8 for each rhythm) using an industrial camera.After preprocessing, vPPG was extracted...

Robot-assisted minimally invasive surgery requires the surgeons to learn new control dynamics of surgical instruments and, usually, how deal with loss haptic feedback. Indeed, excessive forces applied delicate tissues as blood vessels may cause dramatic intraoperative events, such major bleeding. Training plays a paramount role prevent onset adverse events. This work focuses on development an anatomy-based physical simulator pulmonary vein for mastering tissue manipulation while using robot....

High Intensity Focused Ultrasound (HIFU) surgery is a promising technology for the treatment of several pathologies, including cancer. Testing fundamental step verifying efficacy and safety. Ex-vivo tissues represent most common solution replicating properties human in HIFU operative scenario. However, they constitute an avoidable waste resources. Thus, tissue mimicking phantoms have been investigated as more sustainable reliable alternative. In this scenario, we proposed reusable...

The compensation of target motion is crucial to perform medical tasks, such as localized therapy delivery. For example, abdominal organs can periodically move up few centimeters in a couple seconds due respiration. This sets the need for accurate and fast estimation strategies, well their integration into control routines manage possible mismatches with respect treatment area. In this paper, we combine optical flow ultrasound imaging robotic tackle problem. estimator based on (Farneback...

The use of datasets is getting more relevance in surgical robotics since they can be used to recognise and automate tasks. Also, this allows common compare different algorithms methods. objective work provide a complete dataset three training tasks that surgeons perform improve their skills. For purpose, 12 subjects teleoperated the da Vinci Research Kit these obtained includes all kinematics dynamics information provided by robot (both master slave side) together with associated video from...

High-intensity focused ultrasound surgery based on a KUKA robot (HIFUSK) can address unmet clinical needs in the treatment of pathological tissues, such as cancerous tissues. HIFUSK is marriage two technologies: robotics and (FUS). Such combination results surgical that precise noninvasive (no incisions, no anesthesia, ionizing energy) thanks to FUS, respectively. Robotic control machine learning algorithms ensure safety even case target motions during therapy. The platform has been...