title: String motif-based description of tool motion for detecting skill and gestures in robotic surgery.
abstract: The growing availability of data from robotic and laparoscopic surgery has created new opportunities to investigate the modeling and assessment of surgical technical performance and skill. However, previously published methods for modeling and assessment have not proven to scale well to large and diverse data sets. In this paper, we describe a new approach for simultaneous detection of gestures and skill that can be generalized to different surgical tasks. It consists of two parts: (1) descriptive curve coding (DCC), which transforms the surgical tool motion trajectory into a coded string using accumulated Frenet frames, and (2) common string model (CSM), a classification model using a similarity metric computed from longest common string motifs. We apply DCC-CSM method to detect surgical gestures and skill levels in two kinematic datasets (collected from the da Vinci surgical robot). DCC-CSM method classifies gestures and skill with 87.81% and 91.12% accuracy, respectively.
authors: Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA.
authors: Narges
authors: N
authors: Ahmidi
authors: Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA.
authors: Yixin
authors: Y
authors: Gao
authors: Department of Biomedical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA.
authors: Benjamín
authors: B
authors: Béjar
authors: Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA.
authors: S Swaroop
authors: SS
authors: Vedula
authors: Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA.
authors: Sanjeev
authors: S
authors: Khudanpur
authors: Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA.
authors: René
authors: R
authors: Vidal
authors: Department of Computer Science, Johns Hopkins University, Baltimore, MD 21218, USA.
authors: Gregory D
authors: GD
authors: Hager
mesh_terms: D001132:Arm / Q000502:physiology*; D005868:Gestures; D006801:Humans; D008328:Man-Machine Systems; D009038:Motion; D009068:Movement / Q000502:physiology*; D010363:Pattern Recognition, Automated / Q000379:methods*; D015203:Reproducibility of Results; D012371:Robotics / Q000379:methods*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000379:methods*