Proficiency based planner for safe path planning and applications in surgical training

Shubham Jain, Minsik Hong, Jerzy W Rozenblit

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publication2019 Spring Simulation Conference, SpringSim 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781510883888
DOIs
StatePublished - Apr 1 2019
Event2019 Spring Simulation Conference, SpringSim 2019 - Tucson, United States
Duration: Apr 29 2019May 2 2019

Publication series

Name2019 Spring Simulation Conference, SpringSim 2019

Conference

Conference2019 Spring Simulation Conference, SpringSim 2019
CountryUnited States
CityTucson
Period4/29/195/2/19

Fingerprint

Path Planning
Motion planning
Clearance
Navigation
Path
Collision
Configuration Space
Training
Sufficient
Necessary
Demonstrate
Simulation
Compensation and Redress

Keywords

  • Laparoscopic training
  • Path repairing
  • Probabilistic roadmap planners
  • Safe path planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization
  • Modeling and Simulation

Cite this

Jain, S., Hong, M., & Rozenblit, J. W. (2019). Proficiency based planner for safe path planning and applications in surgical training. In 2019 Spring Simulation Conference, SpringSim 2019 [8732852] (2019 Spring Simulation Conference, SpringSim 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/SpringSim.2019.8732852

Proficiency based planner for safe path planning and applications in surgical training. / Jain, Shubham; Hong, Minsik; Rozenblit, Jerzy W.

2019 Spring Simulation Conference, SpringSim 2019. Institute of Electrical and Electronics Engineers Inc., 2019. 8732852 (2019 Spring Simulation Conference, SpringSim 2019).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jain, S, Hong, M & Rozenblit, JW 2019, Proficiency based planner for safe path planning and applications in surgical training. in 2019 Spring Simulation Conference, SpringSim 2019., 8732852, 2019 Spring Simulation Conference, SpringSim 2019, Institute of Electrical and Electronics Engineers Inc., 2019 Spring Simulation Conference, SpringSim 2019, Tucson, United States, 4/29/19. https://doi.org/10.23919/SpringSim.2019.8732852
Jain S, Hong M, Rozenblit JW. Proficiency based planner for safe path planning and applications in surgical training. In 2019 Spring Simulation Conference, SpringSim 2019. Institute of Electrical and Electronics Engineers Inc. 2019. 8732852. (2019 Spring Simulation Conference, SpringSim 2019). https://doi.org/10.23919/SpringSim.2019.8732852
Jain, Shubham ; Hong, Minsik ; Rozenblit, Jerzy W. / Proficiency based planner for safe path planning and applications in surgical training. 2019 Spring Simulation Conference, SpringSim 2019. Institute of Electrical and Electronics Engineers Inc., 2019. (2019 Spring Simulation Conference, SpringSim 2019).
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