Automatic Detection and Segmentation of Robot-Assisted Surgical Motions
Abstract
Robotic surgical systems such as Intuitive Surgical's da Vinci
system provide a rich source of motion and video data from surgical
procedures. In principle, this data can be used to evaluate surgical skill,
provide surgical training feedback, or document essential aspects of a
procedure. If processed online, the data can be used to provide context-specific
information or motion enhancements to the surgeon. However,
in every case, the key step is to relate recorded motion data to a model
of the procedure being performed. This paper examines our progress at
developing techniques for "parsing" raw motion data from a surgical task
into a labelled sequence of surgical gestures. Our current techniques have
achieved >90% fully automated recognition rates on 15 datasets.