RT Journal Article
T1 Transferring Know-How for an Autonomous Camera Robotic Assistant
A1 Rivas-Blanco, Irene
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
A1 López-Casado, Carmen
A1 Bauzano-Núñez, Enrique
A1 Muñoz-Martínez, Víctor Fernando
K1 Robots autónomos
AB Robotic platforms are taking their place in the operating room because they provide more stability and accuracy during surgery. Although most of these platforms are teleoperated, a lot of research is currently being carried out to design collaborative platforms. The objective is to reduce the surgeon workload through the automation of secondary or auxiliary tasks, which would benefit both surgeons and patients by facilitating the surgery and reducing the operation time. One of the most important secondary tasks is the endoscopic camera guidance, whose automation would allow the surgeon to be concentrated on handling the surgical instruments. This paper proposes a novel autonomous camera guidance approach for laparoscopic surgery. It is based on learning from demonstration (LfD), which has demonstrated its feasibility to transfer knowledge from humans to robots by means of multiple expert showings. The proposed approach has been validated using an experimental surgical robotic platform to perform peg transferring, a typical task that is used to train human skills in laparoscopic surgery. The results show that camera guidance can be easily trained by a surgeon for a particular task. Later, it can be autonomously reproduced in a similar way to one carried out by a human. Therefore, the results demonstrate that the use of learning from demonstration is a suitable method to perform autonomous camera guidance in collaborative surgical robotic platforms.
PB MDPI
YR 2019
FD 2019
LK https://hdl.handle.net/10630/33299
UL https://hdl.handle.net/10630/33299
LA eng
NO Rivas-Blanco, I.; Perez-del-Pulgar, C.J.; López-Casado, C.; Bauzano, E.; Muñoz, V.F. Transferring Know-How for an Autonomous Camera Robotic Assistant. Electronics 2019, 8, 224. https://doi.org/10.3390/electronics8020224
NO DPI2016-80391-C3-R
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026