Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree

Hu, Danying and Gong, Yuanzheng and Hannaford, Blake and Seibel, Eric J. (2015) Semi-autonomous simulated brain tumor ablation with RAVENII Surgical Robot using behavior tree. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), May 26-30,2015, Seattle.

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Abstract

Medical robots have been widely used to assist surgeons to carry out dexterous surgical tasks via various ways. Most of the tasks require surgeon's operation directly or indirectly. Certain level of autonomy in robotic surgery could not only free the surgeon from some tedious repetitive tasks, but also utilize the advantages of robot: high dexterity and accuracy. This paper presents a semi-autonomous neurosurgical procedure of brain tumor ablation using RAVEN Surgical Robot and stereo visual feedback. By integrating with the behavior tree framework, the whole surgical task is modeled flexibly and intelligently as nodes and leaves of a behavior tree. This paper provides three contributions mainly: (1) describing the brain tumor ablation as an ideal candidate for autonomous robotic surgery, (2) modeling and implementing the semi-autonomous surgical task using behavior tree framework, and (3) designing an experimental simulated ablation task for feasibility study and robot performance analysis.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > C Surgical Robots(General)
C Surgical Robots > CA Robotic Control
C Surgical Robots > CB Automated Tools
Divisions: Department of Electrical Engineering
Department of Mechanical Engineering
Depositing User: Danying Hu
Date Deposited: 04 Jan 2016 23:23
Last Modified: 31 May 2016 03:54
URI: http://brl.ee.washington.edu/eprints/id/eprint/278

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