Next Article in Journal
Evaluation of Multi-Beam Massive MIMO Considering MAC Layer Using IEEE802.11ac and FDD-LTE
Previous Article in Journal
Open Embedded Real-time Controllers for Industrial Distributed Control Systems
Previous Article in Special Issue
Control System in Open-Source FPGA for a Self-Balancing Robot
Article Menu
Issue 2 (February) cover image

Export Article

Open AccessArticle
Electronics 2019, 8(2), 224; https://doi.org/10.3390/electronics8020224

Transferring Know-How for an Autonomous Camera Robotic Assistant

Department of Systems Engineering and Automation, Universidad de Málaga, Andalucía Tech, 29071 Málaga, Spain
*
Author to whom correspondence should be addressed.
Received: 10 January 2019 / Revised: 11 February 2019 / Accepted: 13 February 2019 / Published: 18 February 2019
(This article belongs to the Special Issue Cognitive Robotics & Control)
Full-Text   |   PDF [5115 KB, uploaded 18 February 2019]   |  
  |   Review Reports

Abstract

Robotic platforms are taking their place in the operating room because they provide more stability and accuracy during surgery. Although most of these platforms are teleoperated, a lot of research is currently being carried out to design collaborative platforms. The objective is to reduce the surgeon workload through the automation of secondary or auxiliary tasks, which would benefit both surgeons and patients by facilitating the surgery and reducing the operation time. One of the most important secondary tasks is the endoscopic camera guidance, whose automation would allow the surgeon to be concentrated on handling the surgical instruments. This paper proposes a novel autonomous camera guidance approach for laparoscopic surgery. It is based on learning from demonstration (LfD), which has demonstrated its feasibility to transfer knowledge from humans to robots by means of multiple expert showings. The proposed approach has been validated using an experimental surgical robotic platform to perform peg transferring, a typical task that is used to train human skills in laparoscopic surgery. The results show that camera guidance can be easily trained by a surgeon for a particular task. Later, it can be autonomously reproduced in a similar way to one carried out by a human. Therefore, the results demonstrate that the use of learning from demonstration is a suitable method to perform autonomous camera guidance in collaborative surgical robotic platforms. View Full-Text
Keywords: surgical robotics; human–machine interaction; autonomous guidance surgical robotics; human–machine interaction; autonomous guidance
Figures

Graphical abstract

This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

Supplementary material

SciFeed

Share & Cite This Article

MDPI and ACS Style

Rivas-Blanco, I.; Perez-del-Pulgar, C.J.; López-Casado, C.; Bauzano, E.; Muñoz, V.F. Transferring Know-How for an Autonomous Camera Robotic Assistant. Electronics 2019, 8, 224.

Show more citation formats Show less citations formats

Note that from the first issue of 2016, MDPI journals use article numbers instead of page numbers. See further details here.

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Electronics EISSN 2079-9292 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top