daVinciNet: Joint Prediction of Motion and Surgical State in Robot-Assisted Surgery
Yidan Qin,Seyedshams Feyzabadi,Max Allan,Joel W. Burdick,Mahdi Azizian,Yidan Qin,Seyedshams Feyzabadi,Max Allan,Joel W. Burdick,Mahdi Azizian
This paper presents a technique to concurrently and jointly predict the future trajectories of surgical instruments and the future state(s) of surgical subtasks in robot-assisted surgeries (RAS) using multiple input sources. Such predictions are a necessary first step towards shared control and supervised autonomy of surgical subtasks. Minute-long surgical subtasks, such as suturing or ultrasound ...
