@inproceedings{discovery1474284,
           title = {A Cooperative Control Framework For Haptic Guidance Of Bimanual Surgical Tasks Based On Learning From Demonstration},
          series = {IEEE International Conference on Robotics and Automation ICRA},
            year = {2015},
          volume = {2015},
       publisher = {IEEE},
            note = {This version is the author accepted manuscript. For information on re-use, please refer to the publisher's terms and conditions.},
           pages = {5330--5337},
         journal = {2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)},
           month = {July},
       booktitle = {Proceedings of IEEE International Conference on Robotics and Automation (ICRA), 2015},
         address = {Washington, USA},
             url = {http://doi.org/10.1109/ICRA.2015.7139943},
          author = {Power, M and Rafii-Tari, H and Bergeles, C and Vitiello, V and Yang, G-Z},
        abstract = {Whilst current minimally invasive surgical robots
offer many advantages to the surgeon, most of them are still
controlled using the traditional master-slave approach, without
fully exploiting the complementary strengths of both the
human user and the robot. This paper proposes a framework
that provides a cooperative control approach to human-robot
interaction. Typical teleoperation is enhanced by incorporating
haptic guidance-based feedback for surgical tasks, which are
demonstrated to and learned by the robot. Safety in the
surgical scene is maintained during reproduction of the learned
tasks by including the surgeon in the guided execution of the
learned task at all times. Continuous Hidden Markov Models
are used for task learning, real-time learned task recognition
and generating setpoint trajectories for haptic guidance.
Two different surgical training tasks were demonstrated and
encoded by the system, and the framework was evaluated using
the Raven II surgical robot research platform. The results
indicate an improvement in user task performance with the
haptic guidance in comparison to unguided teleoperation.},
        keywords = {Trajectory,
Haptic interfaces,
Encoding,
Surgery,
Instruments,
Robot kinematics},
            issn = {1050-4729}
}