TY - GEN
T1 - Learning to see forces
T2 - 1st International Workshop on OR 2.0 Context-Aware Operating Theaters, OR 2.0 2018, 5th International Workshop on Computer Assisted Robotic Endoscopy, CARE 2018, 7th International Workshop on Clinical Image-Based Procedures, CLIP 2018, and 1st International Workshop on Skin Image Analysis, ISIC 2018, held in conjunction with the 21st International Conference on Medical Imaging and Computer-Assisted Intervention, MICCAI 2018
AU - Gao, Cong
AU - Liu, Xingtong
AU - Peven, Michael
AU - Unberath, Mathias
AU - Reiter, Austin
N1 - Publisher Copyright:
© Springer Nature Switzerland AG 2018.
PY - 2018
Y1 - 2018
N2 - Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force feedback, we propose the use of “visual cues” to infer forces from tissue deformation. Endoscopic video is a passive sensor that is freely available, in the sense that any minimally-invasive procedure already utilizes it. To this end, we employ deep learning to infer forces from video as an attractive low-cost and accurate alternative to typically complex and expensive hardware solutions. First, we demonstrate our approach in a phantom setting using the da Vinci Surgical System affixed with an OptoForce sensor. Second, we then validate our method on an ex vivo liver organ. Our method results in a mean absolute error of 0.814 N in the ex vivo study, suggesting that it may be a promising alternative to hardware based surgical force feedback in endoscopic procedures.
AB - Robotic surgery has been proven to offer clear advantages during surgical procedures, however, one of the major limitations is obtaining haptic feedback. Since it is often challenging to devise a hardware solution with accurate force feedback, we propose the use of “visual cues” to infer forces from tissue deformation. Endoscopic video is a passive sensor that is freely available, in the sense that any minimally-invasive procedure already utilizes it. To this end, we employ deep learning to infer forces from video as an attractive low-cost and accurate alternative to typically complex and expensive hardware solutions. First, we demonstrate our approach in a phantom setting using the da Vinci Surgical System affixed with an OptoForce sensor. Second, we then validate our method on an ex vivo liver organ. Our method results in a mean absolute error of 0.814 N in the ex vivo study, suggesting that it may be a promising alternative to hardware based surgical force feedback in endoscopic procedures.
UR - https://www.scopus.com/pages/publications/85054832380
UR - https://www.scopus.com/pages/publications/85054832380#tab=citedBy
U2 - 10.1007/978-3-030-01201-4_14
DO - 10.1007/978-3-030-01201-4_14
M3 - Conference contribution
AN - SCOPUS:85054832380
SN - 9783030012007
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 118
EP - 127
BT - OR 2.0 Context-Aware Operating Theaters, Computer Assisted Robotic Endoscopy, Clinical Image-Based Procedures, and Skin Image Analysis - 1st International Workshop, OR 2.0 2018 5th International Workshop, CARE 2018, 7th International Workshop, CLIP 2018, 3rd International Workshop, ISIC 2018 Held in Conjunction with MICCAI 2018
A2 - Malpani, Anand
A2 - Zenati, Marco A.
A2 - Oyarzun Laura, Cristina
A2 - Celebi, M. Emre
A2 - Sarikaya, Duygu
A2 - Codella, Noel C.
A2 - Halpern, Allan
A2 - Erdt, Marius
A2 - Maier-Hein, Lena
A2 - Xiongbiao, Luo
A2 - Wesarg, Stefan
A2 - Stoyanov, Danail
A2 - Taylor, Zeike
A2 - Drechsler, Klaus
A2 - Dana, Kristin
A2 - Martel, Anne
A2 - Shekhar, Raj
A2 - De Ribaupierre, Sandrine
A2 - Reichl, Tobias
A2 - McLeod, Jonathan
A2 - González Ballester, Miguel Angel
A2 - Collins, Toby
A2 - Linguraru, Marius George
PB - Springer Verlag
Y2 - 16 September 2018 through 20 September 2018
ER -