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Learning Motion and Stiffness Behaviours from Demonstrations for a Blunt Dissection Task

Arduini, Riccardo (2022) Learning Motion and Stiffness Behaviours from Demonstrations for a Blunt Dissection Task. DLR-Interner Bericht. DLR-IB-RM-OP-2023-81. Master's. Politecnico Milano. 165 S.

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Blunt Dissection is the task of exposing a structure of interest (e.g. an artery) by the separation of the surrounding tissue. This particular type of dissection is blunt, which means that no sharp instruments are used, deeming the method more gentle with a lower risk of atraumatic injuries. Blunt dissection is regularly performed during Laparoscopic Cholecystectomy, e.g. when the surgeon exposes the Calot triangle. The task is often repetitive, in the sense that it consists of a set of common manoeuvres that repeat over the course of the operation, yet it is time consuming and must be performed with care since otherwise complications could occur. In this work, we aim to develop a robotic solution that can automate the task to some extent. To this end, Learning from Demonstrations (LfD) is an efficient method that can be used instead of manual programming. Recent works in the surgical robotics domain have attempted to use LfD to great effect in tasks such as tying knots, suturing and cutting. On the other hand, there has been less work on how to introduce robotics into blunt dissection. This was only considered in, yet the authors used conventional programming to execute the task. Furthermore, no effort has been put on shaping the robot behaviour appropriately during contact, via e.g. the modulation of robot force and impedance. In this master thesis, we try to take a first step towards including LfD into a robotic blunt dissection task, in order to learn appropriate strategies to perform the task.

Item URL in elib:https://elib.dlr.de/196280/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Learning Motion and Stiffness Behaviours from Demonstrations for a Blunt Dissection Task
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:December 2022
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:165
Keywords:Robotic Surgery, LfD, Variable Impedance Control, EMG, Teleoperation, Haptics
Institution:Politecnico Milano
Department:Mechatronics and Robotics
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Deposited By: Singh, Harsimran
Deposited On:02 Aug 2023 11:57
Last Modified:02 Aug 2023 11:57

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