Exploring the effects of dimensionality reduction in deep networks for force estimation in robotic-assisted surgery

Angelica I. Aviles; Samar Alsaleh; Pilar Sobrevilla; Alicia Casals

doi:10.1117/12.2217000

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18 March 2016 Exploring the effects of dimensionality reduction in deep networks for force estimation in robotic-assisted surgery

Angelica I. Aviles, Samar Alsaleh, Pilar Sobrevilla, Alicia Casals

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Proceedings Volume 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling; 97861X (2016) https://doi.org/10.1117/12.2217000
Event: SPIE Medical Imaging, 2016, San Diego, California, United States

Abstract

Robotic-Assisted Surgery approach overcomes the limitations of the traditional laparoscopic and open surgeries. However, one of its major limitations is the lack of force feedback. Since there is no direct interaction between the surgeon and the tissue, there is no way of knowing how much force the surgeon is applying which can result in irreversible injuries. The use of force sensors is not practical since they impose different constraints. Thus, we make use of a neuro-visual approach to estimate the applied forces, in which the 3D shape recovery together with the geometry of motion are used as input to a deep network based on LSTM-RNN architecture. When deep networks are used in real time, pre-processing of data is a key factor to reduce complexity and improve the network performance. A common pre-processing step is dimensionality reduction which attempts to eliminate redundant and insignificant information by selecting a subset of relevant features to use in model construction. In this work, we show the effects of dimensionality reduction in a real-time application: estimating the applied force in Robotic-Assisted Surgeries. According to the results, we demonstrated positive effects of doing dimensionality reduction on deep networks including: faster training, improved network performance, and overfitting prevention. We also show a significant accuracy improvement, ranging from about 33% to 86%, over existing approaches related to force estimation.

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Angelica I. Aviles, Samar Alsaleh, Pilar Sobrevilla, and Alicia Casals "Exploring the effects of dimensionality reduction in deep networks for force estimation in robotic-assisted surgery", Proc. SPIE 9786, Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling, 97861X (18 March 2016); https://doi.org/10.1117/12.2217000

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