DESK: A Robotic Activity Dataset for Dexterous Surgical Skills Transfer to Medical Robots.
Naveen MadapanaThomas LowRichard M. VoylesYexiang XueJuan P. WachsMd. Masudur RahmanNatalia Sanchez-TamayoMythra V. BalakuntalaGlebys T. GonzalezJyothsna Padmakumar BinduL. N. Vishnunandan VenkateshXingguang ZhangJuan Barragan NogueraPublished in: IROS (2019)
Keyphrases
- manipulation tasks
- object manipulation
- robotic systems
- human activities
- mobile robot
- robot control
- robot navigation
- operating room
- unstructured environments
- humanoid robot
- medical students
- autonomous robots
- motion planning
- tactile sensing
- robotic platform
- human robot interaction
- surgical training
- real robot
- medical diagnosis
- imitation learning
- medical domain
- minimally invasive surgery
- intraoperative
- benchmark datasets
- medical data
- service robots
- robot behavior
- activity recognition
- computer assisted
- rule interestingness measures
- surgical robot
- transfer learning
- minimally invasive
- knowledge transfer
- medical imaging
- multiple robots
- end effector
- medical knowledge
- human computer interaction
- vision system
- cooperative