Automatic Detection and Segmentation of Robot-Assisted Surgical Motions

Robotic surgical systems such as Intuitive Surgical's da Vinci system provide a rich source of motion and video data from surgical procedures. In principle, this data can be used to evaluate surgical skill, provide surgical training feedback, or document essential aspects of a procedure. If processed online, the data can be used to provide contextspecific information or motion enhancements to the surgeon. However, in every case, the key step is to relate recorded motion data to a model of the procedure being performed. This paper examines our progress at developing techniques for "parsing" raw motion data from a surgical task into a labelled sequence of surgical gestures. Our current techniques have achieved >90% fully automated recognition rates on 15 datasets.

• Type: Conference
• Year: 2005
• Where: MICCAI
• Authors: Henry C. Lin, Izhak Shafran, Todd E. Murphy, Allison M. Okamura, David D. Yuh, Gregory D. Hager
• Keywords: Medical Imaging, MICCAI 2005, Robotic Surgical Systems, Surgical Gestures, Surgical Training Feedback