Safety-assured offline-online path planning with reduced storage requirements in simulated surgical training

Aakarsh Rao, Michael Valenzula, Jerzy W. Rozenblit

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

Abstract

Optimal path planning and re-planning are essential requirements for efficient robotic and laparoscopy surgical education as they guide instruments through the operating field. Ensuring collision free paths and training under uncertainty, with limited dependence on an expert surgeon's assistance, are key aspects to be considered. In this paper, a hybrid path planning method is introduced to assist in surgical training that combines offline and online approaches for trajectory generation. The proposed offline-online path planner integrates features of offline approaches that guarantee safe navigation with real-time re-planning capability of online planners. It reduces memory storage requirements of the trajectories for online path planning, by more effectively saving them as segments, catering to the portability of the surgical systems. The efficacy of the proposed approach is demonstrated in a simulated training environment for hand-eye coordination tasks on the Computer Assisted Surgical Trainer (CAST) platform.

Original languageEnglish (US)
Title of host publicationSimulation Series
EditorsJerzy W. Rozenblit, Johannes Sametinger
PublisherThe Society for Modeling and Simulation International
Pages70-81
Number of pages12
Edition6
ISBN (Electronic)9781510838253
StatePublished - 2017
Event4th Modeling and Simulation in Medicine Symposium, MSM 2017, Part of the 2017 Spring Simulation Multi-Conference, SpringSim 2017 - Virginia Beach, United States
Duration: Apr 23 2017Apr 26 2017

Publication series

NameSimulation Series
Number6
Volume49
ISSN (Print)0735-9276

Conference

Conference4th Modeling and Simulation in Medicine Symposium, MSM 2017, Part of the 2017 Spring Simulation Multi-Conference, SpringSim 2017
CountryUnited States
CityVirginia Beach
Period4/23/174/26/17

Keywords

  • Offline and online
  • Path planner
  • Simulated surgical training

ASJC Scopus subject areas

  • Computer Networks and Communications

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