間欠同期による自律手術中のリズム性体動補償
Using Intermittent Synchronization to Compensate for Rhythmic Body Motion During Autonomous Surgical Cutting and Debridement
呼吸や心拍による臓器の周期的な動きに対し、速度が最小となるタイミングで間欠的に同期する手法を提案し、手術用の切断・デブリードマンで追従より高精度・高成功率を実現した。
著者: Vatsal Patel, Sanjay Krishnan, Aimee Goncalves, Carolyn Chen, Walter Doug Boyd, Ken Goldberg
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Anatomical structures are rarely static during a surgical procedure due to breathing, heartbeats, and peristaltic movements. Inspired by observing an expert surgeon, we propose an intermittent synchronization with the extrema of the rhythmic motion (i.e., the lowest velocity windows). We performed 2 experiments: (1) pattern cutting, and (2) debridement. In (1), we found that the intermittent synchronization approach, while 1.8x slower than tracking motion, was significantly more robust to noise and control latency, and it reduced the max cutting error by 2.6x In (2), a baseline approach with no synchronization achieves 62% success rate for each removal, while intermittent synchronization achieves 80%.
