Abstract:

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.

Keywords: SUPERVISED LEARNING; RECURRENT NEURAL NETWORKS; ARTIFICIAL EVOLUTION; MINIMALLY INVASIVE SURGERY; AUTOMATED KNOT TYING

Document Type: Research article

DOI: 10.1163/156855308X360604

Affiliations: 1: Department of Embedded Systems and Robotics, Technical University Munich, 85748 Garching, Germany 2: Istituto Dalle Molle di Studi sull'Intelligenza Artificiale (IDSIA), 6928 Manno-Lugano, Switzerland;, Email: tino@idsia.ch 3: Istituto Dalle Molle di Studi sull'Intelligenza Artificiale (IDSIA), 6928 Manno-Lugano, Switzerland 4: Department of Embedded Systems and Robotics, Technical University Munich, 85748 Garching, Germany, Istituto Dalle Molle di Studi sull'Intelligenza Artificiale (IDSIA), 6928 Manno-Lugano, Switzerland