手術教育のためのAIとARを統合したロボット手術支援システムの初期検討
Integrating Artificial Intelligence and Augmented Reality in Robotic Surgery: An Initial dVRK Study Using a Surgical Education Scenario
強化学習で専門家の実演から3Dガイド軌跡を生成し、ARでdVRKのステレオ視野に重畳表示する手術教育システムを開発し、ペグ移し課題で有効性を確認した。
著者: Yonghao Long, Jianfeng Cao, Anton Deguet, Russell H. Taylor, Qi Dou
分類: cs.RO, cs.AI
原文アブストラクト
Robot-assisted surgery has become progressively more and more popular due to its clinical advantages. In the meanwhile, the artificial intelligence and augmented reality in robotic surgery are developing rapidly and receive lots of attention. However, current methods have not discussed the coherent integration of AI and AR in robotic surgery. In this paper, we develop a novel system by seamlessly merging artificial intelligence module and augmented reality visualization to automatically generate the surgical guidance for robotic surgery education. Specifically, we first leverage reinforcement leaning to learn from expert demonstration and then generate 3D guidance trajectory, providing prior context information of the surgical procedure. Along with other information such as text hint, the 3D trajectory is then overlaid in the stereo view of dVRK, where the user can perceive the 3D guidance and learn the procedure. The proposed system is evaluated through a preliminary experiment on surgical education task peg-transfer, which proves its feasibility and potential as the next generation of robot-assisted surgery education solution.
