Journal
ADVANCED ROBOTICS
Volume 22, Issue 13-14, Pages 1521-1537Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1163/156855308X360604
Keywords
Supervised learning; recurrent neural networks; artificial evolution; minimally invasive surgery; automated knot tying
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Funding
- SNF [200020-107534]
- EU MindRaces [FP6 511931]
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Tying suture knots is a time-consuming task performed frequently during minimally invasive Surgery (MIS). Automating this task could greatly reduce total surgery time for patients. Current solutions to this problem replay manually programmed trajectories, but a more general and robust approach is to use Supervised machine learning to smooth surgeon-given training trajectories and generalize from them. Since knot tying generally requires a controller with internal memory to distinguish between identical inputs that require different actions at different points along a trajectory, it would be impossible to teach the system using traditional feedforward neural nets or support vector machines. Instead we exploit more powerful, recurrent neural networks (RNNs) with adaptive internal states. Results obtained using long short-term memory RNNs trained by the recent Evolino algorithm show that this approach can significantly increase the efficiency of suture knot tying in MIS over preprogrammed control. (C) Koninklijke Brill NV, Leiden and The Robotics Society of Japan, 2008
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