@inproceedings{58f9a66adaae4d47ab732c5afa236077,
title = "Safety-assured offline-online path planning with reduced storage requirements in simulated surgical training",
abstract = "Optimal path planning and re-planning are essential requirements for efficient robotic and laparoscopy surgical education as they guide instruments through the operating field. Ensuring collision free paths and training under uncertainty, with limited dependence on an expert surgeon's assistance, are key aspects to be considered. In this paper, a hybrid path planning method is introduced to assist in surgical training that combines offline and online approaches for trajectory generation. The proposed offline-online path planner integrates features of offline approaches that guarantee safe navigation with real-time re-planning capability of online planners. It reduces memory storage requirements of the trajectories for online path planning, by more effectively saving them as segments, catering to the portability of the surgical systems. The efficacy of the proposed approach is demonstrated in a simulated training environment for hand-eye coordination tasks on the Computer Assisted Surgical Trainer (CAST) platform.",
keywords = "Offline and online, Path planner, Simulated surgical training",
author = "Aakarsh Rao and Michael Valenzula and Rozenblit, {Jerzy W.}",
note = "Funding Information: The authors would like to thank Mr. P. Czapiewski of Manufacturing Systems Solutions, LLC for his insightful feedback and mechanical design of the Computer Assisted Surgical Trainer. We wish to thank Allan J. Hamilton, MD (Arizona Simulation Technology and Education Center (ASTEC), University of Arizona, AZ, USA) for the clinical input. This work was supported by Raymond J. Oglethorpe Endowment. Publisher Copyright: {\textcopyright}2017 Society for Modeling & Simulation International (SCS).; 4th Modeling and Simulation in Medicine Symposium, MSM 2017, Part of the 2017 Spring Simulation Multi-Conference, SpringSim 2017 ; Conference date: 23-04-2017 Through 26-04-2017",
year = "2017",
language = "English (US)",
series = "Simulation Series",
publisher = "The Society for Modeling and Simulation International",
number = "6",
pages = "70--81",
editor = "Rozenblit, {Jerzy W.} and Johannes Sametinger",
booktitle = "Simulation Series",
edition = "6",
}