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首页> 外文会议>2019 Spring Simulation Conference >Proficiency Based Planner for Safe Path Planning and Applications in Surgical Training
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Proficiency Based Planner for Safe Path Planning and Applications in Surgical Training

机译：基于技能的规划师，以进行手术培训中的安全路径规划和应用

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摘要

Instrument navigation is a fundamental task in laparoscopic surgical training. To assist a trainee in this task, suggested path needs to be collision free and should maintain sufficient distance, or clearance from the obstacle so that the possibility of collision is minimized. Clearance highly depends on the ability of a trainee to perform the task. In this paper, we propose a new algorithm for suggesting a path for a navigation task, that considers Proficiency Level of the trainee and provides a path according to how well a trainee can perform. The suggested approach is based on Probabilistic Roadmap Planners (PRM) and focuses on certain configuration spaces where most planners may fail to find a path while guaranteeing path's clearance. The new method provides a way to compensate for clearance constraints in regions wherever such compensation is necessary. Finally, the simulation in a surgical trainer demonstrates the effectiveness of the method.
机译：仪器导航是腹腔镜手术培训中的一项基本任务。为了帮助受训者完成此任务，建议的路径必须无碰撞，并应保持足够的距离或与障碍物的距离，以使发生碰撞的可能性降到最低。清除高度依赖于学员执行任务的能力。在本文中，我们提出了一种新的导航路径建议算法，该算法考虑了学员的熟练程度，并根据学员的表现提供了一条路径。建议的方法基于概率路线图计划者（PRM），并集中于某些配置空间，在这些配置空间中，大多数计划者可能无法在确保路径间隙的情况下找到路径。新方法提供了一种在需要补偿的区域中补偿间隙约束的方法。最后，在外科培训师中的仿真证明了该方法的有效性。

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  • 来源
  • 会议地点 Tucson(US)
  • 作者

    Shubham Jain; Minsik Hong; Jerzy W. Rozenblit;

  • 作者单位

    Department of Electrical and Computer Engineering, University of Arizona, 1230, East Speedway Boulevard, Tucson, AZ, USA;

    Department of Electrical and Computer Engineering, University of Arizona, 1230, East Speedway Boulevard, Tucson, AZ, USA;

    Department of Electrical and Computer Engineering, University of Arizona, 1230, East Speedway Boulevard, Tucson, AZ, USA;

  • 会议组织
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Instruments; Task analysis; Path planning; Navigation; Training; Surgery; Robots;

    机译：仪器；任务分析；路径规划；导航；培训；外科手术；机器人；;

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