Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery
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 fi...
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| Veröffentlicht in: | Journal of medical systems 2020-01, Vol.44 (1), p.4-13, Article 4 |
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| creator | Sun, Yanwen Pan, Bo Zou, Shuizhong Fu, Yili |
| description | 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. |
| doi_str_mv | 10.1007/s10916-019-1460-9 |
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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.</description><identifier>ISSN: 0148-5598</identifier><identifier>EISSN: 1573-689X</identifier><identifier>DOI: 10.1007/s10916-019-1460-9</identifier><identifier>PMID: 31760504</identifier><language>eng</language><publisher>New York: Springer US</publisher><subject>Adaptive algorithms ; Adaptive control ; Algorithms ; Artificial Intelligence ; Computer Simulation ; Control algorithms ; Control theory ; Equipment Design ; Field of view ; Fuzzy logic ; Health Informatics ; Health Sciences ; Humans ; Information systems ; Intelligence ; Kinematics ; Laparoscopes - standards ; Laparoscopy ; Medicine ; Medicine & Public Health ; Methods ; Models, Theoretical ; Motion stability ; Robot control ; Robotic surgery ; Robotics - standards ; Robots ; Statistics for Life Sciences ; Surgery ; Systems-Level Quality Improvement ; Tracking</subject><ispartof>Journal of medical systems, 2020-01, Vol.44 (1), p.4-13, Article 4</ispartof><rights>Springer Science+Business Media, LLC, part of Springer Nature 2019</rights><rights>Journal of Medical Systems is a copyright of Springer, (2019). All Rights Reserved.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c372t-7f5ab6e1c5f737c6de5e4a4de227ee34ac660fa599b03f912cbb1fb86e38b24a3</citedby><cites>FETCH-LOGICAL-c372t-7f5ab6e1c5f737c6de5e4a4de227ee34ac660fa599b03f912cbb1fb86e38b24a3</cites><orcidid>0000-0001-7085-0797</orcidid></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s10916-019-1460-9$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s10916-019-1460-9$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,780,784,27924,27925,41488,42557,51319</link.rule.ids><backlink>$$Uhttps://www.ncbi.nlm.nih.gov/pubmed/31760504$$D View this record in MEDLINE/PubMed$$Hfree_for_read</backlink></links><search><creatorcontrib>Sun, Yanwen</creatorcontrib><creatorcontrib>Pan, Bo</creatorcontrib><creatorcontrib>Zou, Shuizhong</creatorcontrib><creatorcontrib>Fu, Yili</creatorcontrib><title>Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery</title><title>Journal of medical systems</title><addtitle>J Med Syst</addtitle><addtitle>J Med Syst</addtitle><description>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.</description><subject>Adaptive algorithms</subject><subject>Adaptive control</subject><subject>Algorithms</subject><subject>Artificial Intelligence</subject><subject>Computer Simulation</subject><subject>Control algorithms</subject><subject>Control theory</subject><subject>Equipment Design</subject><subject>Field of view</subject><subject>Fuzzy logic</subject><subject>Health Informatics</subject><subject>Health Sciences</subject><subject>Humans</subject><subject>Information systems</subject><subject>Intelligence</subject><subject>Kinematics</subject><subject>Laparoscopes - standards</subject><subject>Laparoscopy</subject><subject>Medicine</subject><subject>Medicine & Public Health</subject><subject>Methods</subject><subject>Models, Theoretical</subject><subject>Motion stability</subject><subject>Robot control</subject><subject>Robotic surgery</subject><subject>Robotics - 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Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery</title><author>Sun, Yanwen ; Pan, Bo ; Zou, Shuizhong ; Fu, Yili</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c372t-7f5ab6e1c5f737c6de5e4a4de227ee34ac660fa599b03f912cbb1fb86e38b24a3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Adaptive algorithms</topic><topic>Adaptive control</topic><topic>Algorithms</topic><topic>Artificial Intelligence</topic><topic>Computer Simulation</topic><topic>Control algorithms</topic><topic>Control theory</topic><topic>Equipment Design</topic><topic>Field of view</topic><topic>Fuzzy logic</topic><topic>Health Informatics</topic><topic>Health Sciences</topic><topic>Humans</topic><topic>Information systems</topic><topic>Intelligence</topic><topic>Kinematics</topic><topic>Laparoscopes - standards</topic><topic>Laparoscopy</topic><topic>Medicine</topic><topic>Medicine & 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Academic</collection><jtitle>Journal of medical systems</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Sun, Yanwen</au><au>Pan, Bo</au><au>Zou, Shuizhong</au><au>Fu, Yili</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery</atitle><jtitle>Journal of medical systems</jtitle><stitle>J Med Syst</stitle><addtitle>J Med Syst</addtitle><date>2020-01-01</date><risdate>2020</risdate><volume>44</volume><issue>1</issue><spage>4</spage><epage>13</epage><pages>4-13</pages><artnum>4</artnum><issn>0148-5598</issn><eissn>1573-689X</eissn><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.</abstract><cop>New York</cop><pub>Springer US</pub><pmid>31760504</pmid><doi>10.1007/s10916-019-1460-9</doi><tpages>13</tpages><orcidid>https://orcid.org/0000-0001-7085-0797</orcidid></addata></record> |
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| subjects | Adaptive algorithms Adaptive control Algorithms Artificial Intelligence Computer Simulation Control algorithms Control theory Equipment Design Field of view Fuzzy logic Health Informatics Health Sciences Humans Information systems Intelligence Kinematics Laparoscopes - standards Laparoscopy Medicine Medicine & Public Health Methods Models, Theoretical Motion stability Robot control Robotic surgery Robotics - standards Robots Statistics for Life Sciences Surgery Systems-Level Quality Improvement Tracking |
| title | Adaptive Fusion-Based Autonomous Laparoscope Control for Semi-Autonomous Surgery |
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