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 publicationSimulation Series
PublisherThe Society for Modeling and Simulation International
Edition5
ISBN (Electronic)9781510892521, 9781510892538, 9781510892545, 9781510892552, 9781510892569
DOIs
StatePublished - Jan 1 2019
Event2019 Modeling and Simulation in Medicine, MSM 2019, Part of the 2019 Spring Simulation Multi-Conference, SpringSim 2019 - Tucson, United States
Duration: Apr 29 2019May 2 2019

Publication series

NameSimulation Series
Number5
Volume51
ISSN (Print)0735-9276

Conference

Conference2019 Modeling and Simulation in Medicine, MSM 2019, Part of the 2019 Spring Simulation Multi-Conference, SpringSim 2019
CountryUnited States
CityTucson
Period4/29/195/2/19

Keywords

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

ASJC Scopus subject areas

  • Computer Networks and Communications

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  • Cite this

    Jain, S., Hong, M., & Rozenblit, J. W. (2019). Proficiency based planner for safe path planning and applications in surgical training. In Simulation Series (5 ed.). (Simulation Series; Vol. 51, No. 5). The Society for Modeling and Simulation International. https://doi.org/10.23919/SpringSim.2019.8732852