Int J Med Robot
December 2024
Background: Robot-assisted systems have predominantly relied on teleoperation, where visual feedback is the primary source of information. However, advances in tactile sensing and displays offer new opportunities to enhance surgical transparency, efficiency, and safety.
Methods: A PRISMA-guided search was conducted across PubMed, IEEE Xplore, Scopus, and Web of Science databases to identify relevant studies.
Int J Comput Assist Radiol Surg
June 2024
Purpose Surgical workflow recognition is a challenging task that requires understanding multiple aspects of surgery, such as gestures, phases, and steps. However, most existing methods focus on single-task or single-modal models and rely on costly annotations for training. To address these limitations, we propose a novel semi-supervised learning approach that leverages multimodal data and self-supervision to create meaningful representations for various surgical tasks.
View Article and Find Full Text PDFIn the context of Minimally Invasive Surgery, surgeons mainly rely on visual feedback during medical operations. In common procedures such as tissue resection, the automation of endoscopic control is crucial yet challenging, particularly due to the interactive dynamics of multi-agent operations and the necessity for real-time adaptation. This paper introduces a novel framework that unites a Hierarchical Quadratic Programming controller with an advanced interactive perception module.
View Article and Find Full Text PDFMinimally invasive surgery has undergone significant advancements in recent years, transforming various surgical procedures by minimizing patient trauma, postoperative pain, and recovery time. However, the use of robotic systems in minimally invasive surgery introduces significant challenges related to the control of the robot's motion and the accuracy of its movements. In particular, the inverse kinematics (IK) problem is critical for robot-assisted minimally invasive surgery (RMIS), where satisfying the remote center of motion (RCM) constraint is essential to prevent tissue damage at the incision point.
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