MEDICON 2013 - Single Incision Laparoscopic Surgery Using a Miniature Robotic System
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This paper presents a robotic system aimed at solving the main drawbacks of Single Incision Laparoscopic Surgery. The system is composed of a miniature camera robot, a lighting robot to provide efficient illumination to the scene, and a robotic grasper. These devices are introduced into the abdominal cavity through the single port, and are attached to the abdominal wall by magnetic interaction. Two external robotic arms, at which end effector the magnetic holders are attached, are used to guide the internal devices along the abdominal wall. Camera and lighting robots are handled by voice commands, whereas the robotic grasper is teleoperated with a haptic device. An in-vitro experiment to compare the advantages of using this system versus a traditional procedure is developed.
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Mems
The document provides information about various topics including MEMS, NC machines, and CNC machines. It discusses:
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2) NC machines have programs fed via tape while CNC machines are interfaced with computers, allowing for easier programming changes.
3) CNC machines evolved from early NC machines which were modified machine tools. CNC machines have computer control, memory storage, and closed-loop feedback to provide high accuracy and repeatability for machining.
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Teleoperation
Teleoperation:
Definition
Forms of feedback
Teleoperation setup
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Space missions
Teleoperations in nuclear reactors
Military missions
Tele-surgery
Problems in teleoperations
Haptics in teleoperation
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Recent Advancements in Automation and Remote Control Technology
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Tesis Irene Rivas - Smart Camera Robotic Assistant for Laparoscopic Surgery
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Esta tesis trata el problema de la interfaz persona–máquina en la robótica médica, concretamente en el campo de la cirugía laparoscópica en solitario. Para este ámbito de aplicación, resulta necesario evitar al cirujano el manejo de dispositivos complejos que le dificultan y distraen de su tarea quirúrgica habitual. Para conseguir este objetivo, se propone una interfaz
multimodal capaz de interpretar los gestos quirúrgicos y los comandos de voz, imitando la forma en la que un asistente humano se relaciona con el cirujano principal. Los sistemas de reconocimiento de maniobras y de voz que forman parte de la interfaz multimodal propuesta han sido implantados en un asistente quirúrgico de dos brazos, de tal manera que se ha validado el funcionamiento del mismo con la realización de experimentos in-vitro al simular las tareas quirúrgicas que aparecen en el protocolo de colecistectomía, concretamente la
sutura. Para ello, se ha contado con la participación de cirujanos expertos y de personal no especializado con el objeto de realizar el sistema de reconocimiento de gestos quirúrgicos propuesto así como para su validación experimental. De este modo, el sistema multimodal propuesto se muestra adecuado para la identificación de las fases del protocolo laparoscópico.
Tesis Enrique Bauzano - Robot Asistente Semiautónomo de dos Brazos para Inter...
Esta tesis trata sobre el desarrollo de un robot laparoscópico capaz de realizar maniobras quirúrgicas de forma semi-autónoma. Para ello, el sistema dispone de dos brazos manipuladores: uno de ellos sostiene la cámara laparoscópica mientras que el otro maneja una herramienta que ofrece asistencia al cirujano. En primer lugar, este trabajo realiza un estudio del control de bajo nivel necesario para garantizar que ambas herramientas alcancen las localizaciones requeridas. Para ello, el brazo de la cámara instala una muñeca pasiva, mientras que el brazo de la herramienta realiza los movimientos mediante una muñeca esférica de actuación directa. A continuación, se expone un método para movimientos auto-guiados que calcula la trayectoria a cualquier objetivo evitando obstáculos en el interior del abdomen del paciente. Este sistema se emplea posteriormente en un diagrama de estados encargado de regular la asistencia al cirujano en un procedimiento de sutura laparoscópica. Dicho esquema se diseña con la finalidad de que exista una interacción continua a lo largo de la maniobra de forma que, según la secuencia de acciones de la sutura, el cirujano realice las acciones de la mano derecha y el robot las de la mano izquierda. Todas estas funcionalidades se implantan en una arquitectura de control para la plataforma CISOBOT, un prototipo de robot asistente con dos brazos manipuladores, al que se le añade un sistema tolerante a fallos que tiene en cuenta posibles colisiones no previstas con el tejido interno del paciente o con las herramientas del cirujano. Finalmente, para validar el funcionamiento del sistema implantado se proponen una serie de experimentos in vitro.
BIOROB 2014 - Towards a Cognitive Camera Robotic Assistant
This paper presents a cognitive architecture for a camera robotic assistant aimed at providing the proper camera view of the operating area in an autonomous way. The robotic system is composed of a miniature camera robot and an external robotic arm. The camera robot is introduced into the abdominal cavity and handled by the external robot through magnetic interaction. The cognitive architecture is provided with a long-term memory, which stores surgical knowledge, behaviors of the camera and learning mechanisms, and a short-term memory that recognizes the actual state of the task and triggers the corresponding camera behavior. To provide the proper camera view, each state of the task is characterized by a Focus of Attention (FOA), defined by an object, a position of the object in the image, and a zoom factor. The architecture also includes a learning mechanism to take into account particular preferences of surgeons concerning the viewpoint of the scene. The architecture proposed is validated through a set of in-vitro experiments.
ROBOT 2017 - Collaborative robotic system for hand-assisted laparoscopic surgery
Hand-assisted laparoscopic surgery is a Minimally Invasive Surgery technique that is based on the insertion of one surgeon’s hand inside the ab-dominal cavity. In this scenario, a robotic assistant can properly collaborate with the surgeon, working side by side with him/her. This paper presents a ro-botic system for this kind of technique, based on a cognitive architecture that makes possible an efficient collaboration with the surgeon, thanks to a better understanding of the environment and the learning mechanisms included. This architecture includes a hand gesture recognition module and two different au-tonomous movement of the robotic arms, one for the camera motion and the other for the tool movement. All of these modules take advantage of the cogni-tive learning mechanisms of the architecture, fitting their behavior to the current user and procedure.
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El nuevo objetivo es dar un paso más hacia la cirugía en solitario. Para ello, actualmente se está desarrollando un sistema robótico autónomo dotado de dos brazos capaces de realizar movimientos de forma automática. En este sistema, un brazo se encarga del guiado de la cámara laparoscópica y otro mueve un instrumental adicional. De este modo, en intervenciones dónde resulta necesario un cirujano principal y otro ayudante, con el apoyo de estos dos brazos se podría sustituir éste último.
ROBOT 2011 - Robot Quirúrgico Auto-Guiado para Cirugía Mínimamente Invasiva e...
Este artículo se centra en el diseño e implantación de un robot quirúrgico llamado CISOBOT, que ha sido desarrollado en la Universidad de Málaga. La arquitectura de control se basa en un sistema de control de movimientos que permite la navegación auto-guiada de los brazos robóticos a partir de los comandos recibidos por un Interfaz Hombre-Máquina (HMI) multimodal capaz de reconocer gestos quirúrgicos y comandos de voz del cirujano. A su vez, el robot asistente incluye un sistema tolerante a fallos encargado de mejorar la seguridad ante situaciones no previstas o errores en el sistema. Para presentar la validez del funcionamiento del sistema, se han realizado experimentos in-vitro que muestran los movimientos automáticos y el comportamiento del HMI multimodal durante un protocolo quirúrgico ficticio.
IROS 2011 - Surgical Tools Pose Estimation for a Multimodal HMI of a Surgical...
The main objective of this paper is to minimize the occluded areas in order to recognize the navigation of the surgeon’s tools for a two-arm autonomous robotic system for laparoscopic procedures. This robotic assistant needs the tracking of the surgeon’s surgical gestures in order to recognize the current maneuver and to execute the automated tasks of the robot. The surgical tools pose estimation is carried out by a Multiple Extended Kalman Filter (MEKF), where the movement models of the surgical tools depend on the maneuver which is being developed. This information is obtained by a maneuvers recognition system which is a part of the multimodal human machine interface (HMI) of the robot. The method proposed for reducing shadows has been applied to three in-vitro maneuvers which appear in the majority of the surgical protocols. The experiments show the behavior of this method for different time intervals of the occlusions.
CASEIB 2011 - Nuevas tendencias en la cirugía mínimamente invasiva
Robots camarógrafos:
- Control de movimientos: Mediante estrategias de control o por la estructura mecánica.
- HMI: Botoneras, joystick, movimientos de cabeza, voz o teleoperación directa.
- Movimientos automáticos: seguimiento del instrumental.
Robots multibrazos:
- Teleoperación directa.
- Realimentación de fuerzas.
- Visión estereoscópica.
- Movimientos automáticos: control compartido
IROS 2009 - Minimally Invasive Surgery Maneuver Recognition Based On Surgeon ...
This paper proposes a new user interface based on a maneuver recognition system, which models the surgeon behavior. This interface includes three different modules: data acquisition and coding, training system and on-line recognition system. The aim is defined as recognizing the surgeon movements while is performing a surgical maneuver, by using a 3D surgical tool tracker. The obtained measurements are converted in to movement symbols by means of a Wavelet transform and a fuzzy clustering. These symbols are used both for training HMM and for recognizing the current maneuver. The system has been tested in some in-vitro experiments performing a fictitious surgical protocol.
IROS 2009 - Three-layer Control for Active Wrists in Robotized Laparoscopic S...
This paper is focused on the motion control problem for a laparoscopic surgery robot assistant with an actuated wrist. These assistants may apply non-desired efforts to the patient abdomen. Therefore, this article proposes a control methodology based on three feedback levels, which have been defined as layers. These layers control different aspects of the endoscope movement. A low level assures the dynamic of the robot assistant is performed accordingly. The mid level emulates a passive wrist behavior to avoid any efforts over the abdomen. An external high level deals with the global movement planning. This architecture also makes easier to analyze the stability of the whole system. Finally, a real in-vitro experiment has been implemented with an industrial robot in order to contrast the validity of this article procedure.
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MEDICON 2013 - Single Incision Laparoscopic Surgery Using a Miniature Robotic System
- 1. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines Irene Rivas Blanco M. Cuevas-Rodriguez, E. Bauzano, J. Gomez-deGabriel, V.F. Muñoz Department of System Engineering and Automation University of Málaga (Spain) SINGLE INCISION LAPAROSCOPIC SURGERY USING A MINIATURE ROBOTIC SYSTEM
- 2. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines I. INTRODUCTION II. SYSTEM DESCRIPTION III. EXPERIMENTS IV.CONCLUSIONS & FUTURE WORK INDEX
- 3. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines I. INTRODUCTION • Single Incision Laparoscopic Surgery (SILS) Loss of triangulation between camera and instruments Limitation of the range of motion of instruments outside the abdomen
- 4. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines I. INTRODUCTION Magnetic holder Robotic arm Robotic arm Magnetic holder Robotic grasper Magnetic holder Lighting robot Entry port Camera robot • Robotic system for SILS
- 5. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. SYSTEM DESCRIPTION Wrist attachment Magnetic holders Camera robot Lighting robot Pan Tilt -42º 42º C B A • Camera and lighting robots
- 6. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. SYSTEM DESCRIPTION 12 cm 3,5cm 2 cm Lighting robot - 6 LEDs - 2 x 3V batteries - 2 hours of autonomy 4,5cm Camera robot - Wireless camera - 6 LEDs - 7 x 1.3V batteries - 2 hours of autonomy
- 7. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. SYSTEM DESCRIPTION
- 8. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. SYSTEM DESCRIPTION • Robotic grasper Magnetic holder Motors Central magnet Distal magnets Grasper fingers
- 9. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines II. SYSTEM DESCRIPTION
- 10. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines III. EXPERIMENTS • Task: tumor retraction 1. Retract the gall bladder 2. Cutting 3. Retract the tumor • Aim of the experiment - To compare the performance of the task with the robotic system versus a traditional environment (human assistant) - Measured variable: time employed to perform the task by 5 users
- 11. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines III. EXPERIMENTS • Traditional environment ‐ The assistant holds the camera and a grasper tool ‐ Extra incision for the additional grasper ‐ Mean time: 2 minutes 56 seconds
- 12. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines III. EXPERIMENTS • Robotic environment ‐ The assistant teleoperates the robotic grasper ‐ No need of an extra incision ‐ Mean time: 2 minutes 53 seconds
- 13. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines III. CONCLUSIONS AND FUTURE WORK ‐ The camera robot solves the problem of the loss of triangulation and reduces the number of instruments sharing the single port ‐ The lighting system provides more illumination to the operation area ‐ The robotic grasper avoids the need of an extra incision when more than two instruments are required ‐ Reduce the overall size of the camera robot ‐ Provide the robotic grasper with force sensor at the tip • Conclusions • Future Work
- 14. DepartmentofSysyem EngineeeringandAutomation Víctor F. Muñoz Martínez Research lines THANK YOU FOR YOUR ATTENTION