Perceptual Docking for Robotic Control
In current robotic surgery, dexterity is enhanced by microprocessor controlled mechanical wrists which allow motion scaling for reduced gross hand movements and improved performance of micro-scale tasks. The continuing evolution of the technology, includi
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Abstract. In current robotic surgery, dexterity is enhanced by microprocessor controlled mechanical wrists which allow motion scaling for reduced gross hand movements and improved performance of micro-scale tasks. The continuing evolution of the technology, including force feedback and virtual immobilization through real-time motion adaptation, will permit complex procedures such as beating heart surgery to be carried out under a static frame-of-reference. In pursuing more adaptive and intelligent robotic designs, the regulatory, ethical and legal barriers imposed on interventional surgical robots have given rise to the need of a tightly integrated control between the operator and the robot when autonomy is considered. This paper outlines the general concept of perceptual docking for robotic control and how it can be used for learning and knowledge acquisition in robotic assisted minimally invasive surgery such that operator specific motor and perceptual/cognitive behaviour is acquired through in situ sensing. A gaze contingent framework is presented in this paper as an example to illustrate how saccadic eye movements and ocular vergence can be used for attention selection, recovering 3D tissue deformation and motor channelling during minimally invasive surgical procedures. Keywords: perceptual docking, minimally invasive surgery, perceptual feedback, eye tracking, machine vision, deformation recovery, 3D tracking, autonomous robot, robotic control, haptics, human-robot interfacing.
1 Introduction In robotic control, current research is generally carried out under the dichotomy between autonomous and manipulator technologies. Intelligence of the robot is typically pre-acquired through high-level abstraction and environment modelling. With the increasing maturity of master-slave technology in robotic surgery, manual dexterity is enhanced by microprocessor controlled mechanical wrists that allow motion scaling for reduced gross hand movements and improved performance of micro-scale tasks. The continuing evolution of the technology, including force feedback and virtual immobilization through real-time motion adaptation, will permit more complex procedures such as beating heart surgery to be carried out under a static frame-ofreference. The quest for performing ever-complex surgical tasks has given rise to the need of more autonomous control in order to augment the capabilities of the surgeon T. Dohi, I. Sakuma, and H. Liao (Eds.): MIAR 2008, LNCS 5128, pp. 21–30, 2008. © Springer-Verlag Berlin Heidelberg 2008
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by taking the best from the robot and human. However, the regulatory, ethical and legal barriers imposed on interventional surgical robots dictate the need of a tightly integrated control between the operator and the robot. It is well recognised that the success of Minimally Invasive Surgery (MIS) is coupled with an increasing demand on surgeons’ manual dexterity and visuomotor control due to the complexity of instrument manipulations. Tissue deformation combined with restricted workspac
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