Towards Interpretable Motion-level Skill Assessment in Robotic Surgery

Purpose: We study the relationship between surgical gestures and motion primitives in dry-lab surgical exercises towards a deeper understanding of surgical activity at fine-grained levels and interpretable feedback in skill assessment. Methods: We analyze the motion primitive sequences of gestures in the JIGSAWS dataset and identify inverse motion primitives in those sequences. Inverse motion primitives are defined as sequential actions on the same object by the same tool that effectively negate each other. We also examine the correlation between surgical skills (measured by GRS scores) and the number and total durations of inverse motion primitives in the dry-lab trials of Suturing, Needle Passing, and Knot Tying tasks. Results: We find that the sequence of motion primitives used to perform gestures can help detect labeling errors in surgical gestures. Inverse motion primitives are often used as recovery actions to correct the position or orientation of objects or may be indicative of other issues such as with depth perception. The number and total durations of inverse motion primitives in trials are also strongly correlated with lower GRS scores in the Suturing and Knot Tying tasks. Conclusion: The sequence and pattern of motion primitives could be used to provide interpretable feedback in surgical skill assessment. Combined with an action recognition model, the explainability of automated skill assessment can be improved by showing video clips of the inverse motion primitives of inefficient or problematic movements.Comment: 16 pages, 5 figures, 7 table

Evaluating Small Airways Disease in Asthma and COPD using the Forced Oscillation Technique and Magnetic Resonance Imaging

Obstructive lung disease, including asthma and chronic obstructive pulmonary disease (COPD), is characterized by heterogeneous ventilation. Unfortunately, the underlying structure-function relationships and the relationships between measurements of heterogeneity and patient quality-of-life in obstructive lung disease are not well understood. Hyperpolarized noble gas MRI is used to visualize and quantify ventilation distribution and the forced oscillation technique (FOT) applies a multi-frequency pressure oscillation at the mouth to measure respiratory impedance to airflow (including resistance and reactance). My objective was to use FOT, ventilation MRI and computational airway tree modeling to better understand ventilation heterogeneity in asthma and COPD. FOT-measured respiratory system impedance was correlated with MRI ventilation heterogeneity and both were related to quality-of-life in asthma and COPD. FOT-measurements and model-predictions of reactance and small-airways resistance were correlated in asthma and COPD respectively. This study is the first to demonstrate the relationships between FOT-measured impedance, MRI ventilation heterogeneity, and patient quality-of-life