Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans

@article{Hwang2022AutomatingSP,
  title={Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans},
  author={Minho Hwang and Jeffrey Ichnowski and Brijen Thananjeyan and Daniel Seita and Samuel Paradis and Danyal Fer and Thomas Low and Ken Goldberg},
  journal={IEEE Transactions on Automation Science and Engineering},
  year={2022}
}
— Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS). While human surgeons teleoperate robots such as the da Vinci to perform this task with high speed and accuracy, it is challenging to automate. This paper presents a novel system and control method using a da Vinci Research Kit (dVRK) surgical robot and a Zivid depth sen-sor, and a human subjects study comparing performance on three variants of the peg-transfer task: unilateral, bilateral… 
1 Citations

Autonomous Peg Transfer—a Gateway to Surgery 4.0

  • T. D. NagyT. Haidegger
  • Computer Science
    2022 IEEE 10th Jubilee International Conference on Computational Cybernetics and Cyber-Medical Systems (ICCC)
  • 2022
An overview of the current state of the research in this particular area is presented, emphasizing benchmarks and different variations of the peg transfer training exercise.

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