Gesture Recognition in Robotic Surgery With Multimodal Attention.

ABSTRACT: Automatically recognising surgical gestures from surgical data is an important building block of automated activity recognition and analytics, technical skill assessment, intra-operative assistance and eventually robotic automation. The complexity of articulated instrument trajectories and the inherent variability due to surgical style and patient anatomy make analysis and fine-grained segmentation of surgical motion patterns from robot kinematics alone very difficult. Surgical video provides crucial information from the surgical site with context for the kinematic data and the interaction between the instruments and tissue. Yet sensor fusion between the robot data and surgical video stream is non-trivial because the data have different frequency, dimensions and discriminative capability.

SUBMITTER: van Amsterdam B 

PROVIDER: S-EPMC7616924 | biostudies-literature | 2022 Jul

REPOSITORIES: biostudies-literature