Analysis of Executional and Procedural Errors in Dry-lab Robotic Surgery Experiments

This repository contains the code, data files, and error labels for our analysis of executional and procedural errors in dry-lab robotic surgery experiments.

Examples of Executional Errors

Multiple Attempts	Needle Drop	Needle Orientation	Out of View

Pre-requisites

You will need to download the JIGSAWS dataset and enter the filepaths to the 'transcriptions', 'kinematics', and 'label' folders in the MATLAB scripts. (Note that the relativeEntropy function requires at least MATLAB R2020a to run along with the appropriate toolboxes.)
'transcriptionDir' is the filepath to the 'transcription' folder of a task in the JIGSAWS dataset.
'kinematicDir' is the filepath to the folder containing the kinematic data of a task in the JIGSAWS dataset.
'labelDir' is the filepath to the folder containing the executional error labels downloaded from this repository.

For example:

% directories
transcriptionDir = 'C:\Users\JIGSAWS\Suturing\Suturing\transcriptions';
kinematicDir = 'C:\Users\JIGSAWS\Suturing\Suturing\kinematics\AllGestures';
labelDir = 'C:\Users\Error_Labels\Consensus_error_labels_suturing';

The intermediate .mat data files are included in this repository, but you can run different sections of the MATLAB script to regenerate them, or apply our methods to your own dataset.

Publications

"Analysis of Executional and Procedural Errors in Dry-lab Robotic Surgery Experiments"
K. Hutchinson, Z. Li, L. A. Cantrell, N. S. Schenkman, H. Alemzadeh
Under review for publication in the Internation Journal of Medical Robotics and Computer Assisted Surgery (IJMRCAS)