This paper focuses on autonomous movements to aid the surgeon to perform certain tasks. Robotic assistants have solved the drawbacks of Minimally Invasive Surgery (MIS) and provide additional skills to the surgeons. However, some authors argue that these systems could lengthen the operating time. The solution is the automation of certain maneuvers that help the surgeon during a surgical maneuver. This work proposes control architecture for a surgical robot capable of performing autonomous movements. In this way, a trajectory planner based on a behavior concept computes the required velocity vector of the surgical instrument hold by the robot.
Call Girls Coimbatore Just Call 9907093804 Top Class Call Girl Service Available
RAAD 2010 - A Multi-Behavior Algorithm for Auto-Guided Movements in Surgeon Assistance
1. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
System Engineering and Automation Department
http://www.isa.uma.es
University of Malaga (Spain)
ROBOTICS IN ALPE-ADRIA-DANUBE REGION (RAAD 2010)
A MULTI-BEHAVIOR ALGORITHM FOR AUTO-GUIDED
MOVEMENTS IN SURGEON ASSISTANCE
Enrique Bauzano Núñez
Víctor Muñoz-Martínez, Isabel García-Morales
2. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
Auto-Guided Movements in Surgeon Assistance
OUTLINE
I. General Overview
II. Laparoscopic Auto-Guided Navigation Problem
III.Control Strategy
a. APF behavior
b. Velocity corrections
c. Backward movement
IV.Implantation and Experiments
V. Conclusions and Future Works
4. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
I. General Overview
LAPAROSCOPIC SURGERY
Advantages
Lessen recovery time
Limit post-operative complications
Lower scars
Constraints
Movement limitations
Loss of touch and 3D perception
Hand-eye coordination problems
INDEX
I.Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
Main Drawback of Robotic Assistants: Lengthen operating time
Solution: Give more autonomy to surgeon assistants
5. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
A Semi-Autonomous Micro-Robotic System for Colonoscopy
(Robotics & Biomimetics, 2008) G. Chen & M. Pham
Motion Estimation in Beating Heart Surgery (Biomedical
Engineering, 2005) T. Ortmaier, M. Gröger et al.
I. General Overview
Visual Servoing: The robot
assistant automatically focuses the
workspace where the surgeon is
working.
Auto-Guided Movements: The
robot assistant moves to a target
or performs a task without the
surgeon direct intervention.
EXAMPLES
INDEX
I.Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
6. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
II. LAPAROSCOPIC AUTO-GUIDED
NAVIGATION PROBLEM
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
Auto-Guided Movements in Surgeon Assistance
7. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
II. Laparoscopic Auto-Guided Navigation Problem
R
C O
S
RG
CG
OG
SG
Robot
Camera
Target Tool
Obstacle Tool
View Field
Abdomen
Robot
Trajectory
GOAL: Find a path for the robot to reach the Target tool by avoiding
the Obstacle Tool.
AUTO-GUIDED NAVIGATION PROBLEM
8. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
1. Rotate around estimated fulcrum
Fulcrum displacement over the abdomen
2. Passive Wrist Behavior
Endoscope rotation over the wrist to reduce
fulcrum displacement
3. Altitude angle correction
Recover desired altitude angle
I
L3
L1
XI
ZI
C
PASSIVE WRIST EMULATION STRATEGY
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
II. Laparoscopic Auto-Guided Navigation Problem
3-Layer Control for Active Wrists in Laparoscopic Surgery
(IROS, 2009) E. Bauzano, V.F. Munoz et al.
9. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
CISOBOT: SEMI-AUTONOMOUS ROBOT ASSISTANT
Surgeon
Patient
Surgeon
Model
3D Tracking
Image
Processing
Tool
Movement
Surgeon Command
(Voice, Gesture…)
Surgeon’s Tools
Location
Maneuver
Processed
Image
Robot
Assistant
PWE
Controller
Auto-Guide
System
Robot
Trajectory
Image
Caption
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
II. Laparoscopic Auto-Guided Navigation Problem
11. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
III. Control Strategy
MULTI-BEHAVIOR OBSTACLE AVOIDER
Fuzzy
Decision
APF
Planner
Velocity
Corrections
Backward
Movement
Σ
AUTO-GUIDE SYSTEM (LOCAL PLANNER)
c1
c2
c3
v1
v2
v3
vobstacle
vrobot
2
1
3
4
vobstacle
vrobot
FUZZY DECISION
12. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
a. APF Planner
b. Velocity
Corrections
c. Backward
movement
IV.Experiments
V.Conclusions
III. Control Strategy
ARTIFICIAL POTENTIAL FIELD (APF) PLANNER
Procedure for Automatic Movements
1) Locate the minimal distance point MR
2) Calculate its target MR
f
3) Apply the forces and compute the needed velocity of MR
4) Move the robot tool to fit both, the new location and the
fulcrum constraint GR
End Procedure
0
02
2
0
if0
ifˆ
2
111
n
r
KF
goal
r
rep
goalaatt rKF
2
t
m
F
tvttv
1
1
11 )()(
New Method for Improving Artificial Potential Field in Mobile Robot Obstacle Avoidance
(International Conference on Automation and Logistics, 2007) S. Enxiu, C. Tao et al.
13. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
III. Control Strategy
VELOCITY CORRECTIONS
RM
OM
Estimated
obstacle
trajectory
Robot’s
Path
Time to
cross
Distance to
cross
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
a. APF Planner
b.Velocity
Corrections
c. Backward
movement
IV.Experiments
V.Conclusions
Behavior: Reduce the robot velocity when it moves nearby the
surgeon’s obstacle tool.
14. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
III. Control Strategy
BACKWARD MOVEMENT
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
a. APF Planner
b. Velocity
Corrections
c. Backward
movement
IV.Experiments
V.Conclusions
GR GO
Behavior: Follow the surgeon’s obstacle tool trajectory when he
or she forces the contact with the robot tool.
OvBF
3
ρmin
15. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
IV. IMPLANTATION AND EXPERIMENTS
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
Auto-Guided Movements in Surgeon Assistance
16. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
IV. Implantation and Experiments
IMPLANTATION
Robot
Assistant
3D Tracker
Camera Tool
Surgeon’s
Tools
Virtual
Patient
Force
Sensor
17. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
IV. Implantation and Experiments
IN-VITRO EXPERIMENT
Link to videoCISOBOT Video
18. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
IV. Implantation and Experiments
EXPERIMENTAL RESULTS
STATIC OBSTACLE
DYNAMIC OBSTACLE
19. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
V. CONCLUSIONS AND FUTURE WORKS
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions
Auto-Guided Movements in Surgeon Assistance
20. SystemEngineeringand
AutomationDepartment
Mr. Enrique Bauzano Nuñez
ebauzano@uma.es
CONCLUSIONS
The robot tool movements must be restricted to
the camera cone of vision, and the camera should
follow the robot tool.
Include a map of the abdominal cavity to avoid
inner collisions with the patient.
The robot tool-patient interaction must be
studied to extend the possible maneuvers.
FUTURE WORKS
An auto-guided system has been developed to find paths for the robot
assistant to reach a surgeon tool while it avoids collisions with the other one.
Thanks to the force sensor, the fulcrum is always located and forces over the
abdomen are reduced.
The robot tool may react just before a contact with the obstacle tool. This is
useful for surgeon-robot interaction.
V. Conclusions and Future Works
INDEX
I. Overview
II.Auto-Guided
Problem
III.Control
Strategy
IV.Experiments
V.Conclusions