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Electronics 2019, 8(2), 224;

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)
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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

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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).

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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.

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