机器人辅助手术--自主肿瘤定位与提取

Autonomous Tumor Localization and Extraction: Palpation, Incision, Debridement and Adhesive Closure with the da Vinci Research Kit
Winner of Best Video Award at Hamlyn Surgical Robotics Symposium, London, June 2015

                               
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Abstract:
We are developing tooling and software that allows automation of subtasks for surgeons. Palpation of tissues remain a simple, yet important means by which surgeons verify the location of tumors to make precise incisions.
We have created tooling and software a system to autonomously perform a multi-step surgical procedure involving palpation, dissection, retraction debridement and adhesive closure in a silicone tissue phantom.

This video demonstrates a successful trial of the entire five-step procedure where human input is required only at four points to change tools. We also show failure modes of the current autonomous system and
we are working on experiments to characterize the reliability of each step and on incorporating computer vision and new probing algorithms to improve robustness.