Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement

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  • Additional Information
    • Publication Information:
      IEEE
    • Publication Date:
      2018
    • Abstract:
      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 1.8× slower than tracking motion, is significantly more robust to noise and control latency, and it reduces the max cutting error by 2.6× except when motion is along 3 or more orthogonal axes. In (2), a baseline approach with no synchronization succeeds in 62% of debridement attempts while intermittent synchronization achieves an 80% success rate.
    • Contents Note:
      Conference Acronym: ISMR
    • Author Affiliations:
      The AUTOLAB at UC Berkeley
      UC Davis Health
    • ISBN:
      978-1-5386-2512-5
      978-1-5386-2511-8
    • Relation:
      2018 International Symposium on Medical Robotics (ISMR)
    • Accession Number:
      10.1109/ISMR.2018.8333301
    • Rights:
      Copyright 2018, IEEE
    • AMSID:
      8333301
    • Conference Acronym:
      ISMR
    • Date of Current Version:
      2018
    • Document Subtype:
      IEEE Conference
    • Notes:
      Conference Location: Atlanta, GA, USA, USA

      Conference Start Date: 1 March 2018

      Conference End Date: 3 March 2018
    • Accession Number:
      edseee.8333301
  • Citations
    • ABNT:
      PATEL, V. et al. Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement. 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium on, [s. l.], p. 1–6, 2018. DOI 10.1109/ISMR.2018.8333301. Disponível em: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.8333301. Acesso em: 31 out. 2020.
    • AMA:
      Patel V, Krishnan S, Goncalves A, Chen C, Boyd WD, Goldberg K. Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement. 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium on. March 2018:1-6. doi:10.1109/ISMR.2018.8333301
    • APA:
      Patel, V., Krishnan, S., Goncalves, A., Chen, C., Boyd, W. D., & Goldberg, K. (2018). Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement. 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium On, 1–6. https://doi.org/10.1109/ISMR.2018.8333301
    • Chicago/Turabian: Author-Date:
      Patel, Vatsal, Sanjay Krishnan, Aimee Goncalves, Carolyn Chen, Walter Doug Boyd, and Ken Goldberg. 2018. “Using Intermittent Synchronization to Compensate for Rhythmic Body Motion during Autonomous Surgical Cutting and Debridement.” 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium On, March, 1–6. doi:10.1109/ISMR.2018.8333301.
    • Harvard:
      Patel, V. et al. (2018) ‘Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement’, 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium on, pp. 1–6. doi: 10.1109/ISMR.2018.8333301.
    • Harvard: Australian:
      Patel, V, Krishnan, S, Goncalves, A, Chen, C, Boyd, WD & Goldberg, K 2018, ‘Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement’, 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium on, pp. 1–6, viewed 31 October 2020, .
    • MLA:
      Patel, Vatsal, et al. “Using Intermittent Synchronization to Compensate for Rhythmic Body Motion during Autonomous Surgical Cutting and Debridement.” 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium On, Mar. 2018, pp. 1–6. EBSCOhost, doi:10.1109/ISMR.2018.8333301.
    • Chicago/Turabian: Humanities:
      Patel, Vatsal, Sanjay Krishnan, Aimee Goncalves, Carolyn Chen, Walter Doug Boyd, and Ken Goldberg. “Using Intermittent Synchronization to Compensate for Rhythmic Body Motion during Autonomous Surgical Cutting and Debridement.” 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium On, March 1, 2018, 1–6. doi:10.1109/ISMR.2018.8333301.
    • Vancouver/ICMJE:
      Patel V, Krishnan S, Goncalves A, Chen C, Boyd WD, Goldberg K. Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement. 2018 International Symposium on Medical Robotics (ISMR), Medical Robotics (ISMR), 2018 International Symposium on [Internet]. 2018 Mar 1 [cited 2020 Oct 31];1–6. Available from: http://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=edseee&AN=edseee.8333301