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Automating repetitive surgical subtasks such as suturing, cutting and debridement can reduce surgeon fatigue and procedure times and facilitate supervised tele-surgery. Programming is difficult because human tissue is deformable and highly specular. Using the da Vinci Research Kit (DVRK) robotic surgical assistant, we explore a “Learning By Observation” (LBO) approach where we identify, segment, and...
Autonomous robot execution of surgical sub-tasks has the potential to reduce surgeon fatigue and facilitate supervised tele-surgery. This paper considers the sub-task of surgical debridement: removing dead or damaged tissue fragments to allow the remaining healthy tissue to heal. We present an autonomous multilateral surgical debridement system using the Raven, an open-architecture surgical robot...
Robotic surgical assistants are enhancing physician performance, enabling physicians to perform more delicate and precise minimally invasive surgery. However, these devices are currently tele-operated and lack autonomy. In this paper, we present initial steps toward automating a commonly performed surgical task, tissue retraction, which involves grasping and lifting a thin layer of tissue to expose...
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