Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery.

Yanwen Sun, Bo Pan, Shuizhong Zou, Yili Fu

Abstract read

In one paragraph

Article in Journal of medical systems, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Not yet cited in PubMed.

0numbers the graph read from it

0cells of the map it votes in

0citing papers in PubMed

–field-weighted citation impact

1 · What the graph read from it

What it found

Each row is one number read from the abstract, on the scale the paper reported it, with its interval. Left of the dashed line favours the treatment, right favours the comparator. Under each row is the sentence it came from. New to these charts? A ten-minute tutorial.

The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.

2 · The registry

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3 · Its place in the literature

Who cites it

0 citing papers in PubMed.

No citing paper in PubMed yet.

4 · The record

Corrections and comments

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5 · Who and what money

Authors and funding

4 authors.

Yanwen SunState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China. sywhit@hotmail.com.ORCID http://orcid.org/0000-0001-7085-0797

Bo PanState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.

Shuizhong ZouState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.

Yili FuState Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China.

Funding

Heilongjiang Postdoctoral Scientific Research Foundation LBH-Q17070, LBH-Q17068National High-tech Research and Development Program 2012AA041601State Key Laboratory of Robotics and Systems, Harbin Institute of Technology SKLRS201601C

6 · The paper itself

Abstract

The purpose of this paper is to develop an autonomous tracking algorithm based on adaptive fusion kinematics method, the autonomous laparoscope control algorithm and adaptive fusion kinematics method are proposed for semi-autonomous surgery, focus on solving the problems of autonomous laparoscope field of view control for surgical robot system. A novel autonomous tracking algorithm is proposed. To realize more robust tracking, an adaptive fusion kinematics method based on fuzzy logic is proposed, the method adaptive associates the kinematics information of surgical robot system and the laparoscope information. The proposed methods are implemented on the laparoscopic minimally invasive surgical robot system which is developed by our laboratory. Two experiments are carried out, the results indicate that the accurate autonomous field of view control is achieved with the addition of laparoscope information, laparoscopic motion frequency is reduced, the methods can avoid the laparoscope continuous motion and ensure the stability of field of view. The proposed methods improve the intelligence level of surgical robot system.

Indexed as

AlgorithmsArtificial IntelligenceComputer SimulationEquipment DesignHumansLaparoscopesModels, TheoreticalRoboticsAdaptive fusion kinematicsLaparoscope controlSemi-autonomous surgerySurgical robot

Identifiers

PMID31760504

DOI10.1007/s10916-019-1460-9

What OpenQuestion holds

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Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.