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.
Este documento presenta la sinopsis y ficha técnica de la película "El hogar de Miss Peregrine para niños peculiares". Jacob descubre un orfanato mágico donde viven niños con habilidades especiales protegidos por Miss Peregrine. Jacob aprende que tiene el don de su abuelo de ver seres invisibles y los ayuda a enfrentar monstruos que quieren lastimar a los niños.
Este documento presenta la información sobre el silabo de la asignatura Enfermería Médico - Quirúrgico I de la carrera de Enfermería de la Universidad Regional Autónoma de los Andes para el período académico de abril a septiembre de 2015. La asignatura tiene como objetivo aplicar el proceso de atención de enfermería en el cuidado del paciente médico quirúrgico hospitalizado y su familia, utilizando conocimientos de anatomía, fisiología y otras ciencias para identificar signos normales o camb
Internet ha facilitado la conexión global entre personas e instituciones al reducir las barreras de distancia y tiempo. Esta red mundial descentralizada de ordenadores conectados permite el acceso a una variedad de servicios como la navegación web, correo electrónico, transferencia de archivos, comunicaciones de voz y video, radio, televisión y prensa.
Este documento presenta la sinopsis y ficha técnica de la película "El hogar de Miss Peregrine para niños peculiares". Jacob descubre un orfanato mágico donde viven niños con habilidades especiales protegidos por Miss Peregrine. Jacob aprende que tiene el don de su abuelo de ver seres invisibles y los ayuda a enfrentar monstruos que quieren lastimar a los niños.
Este documento presenta la información sobre el silabo de la asignatura Enfermería Médico - Quirúrgico I de la carrera de Enfermería de la Universidad Regional Autónoma de los Andes para el período académico de abril a septiembre de 2015. La asignatura tiene como objetivo aplicar el proceso de atención de enfermería en el cuidado del paciente médico quirúrgico hospitalizado y su familia, utilizando conocimientos de anatomía, fisiología y otras ciencias para identificar signos normales o camb
Internet ha facilitado la conexión global entre personas e instituciones al reducir las barreras de distancia y tiempo. Esta red mundial descentralizada de ordenadores conectados permite el acceso a una variedad de servicios como la navegación web, correo electrónico, transferencia de archivos, comunicaciones de voz y video, radio, televisión y prensa.
Flying High: Flame Retardant EP90FR-V Epoxy SystemMaster Bond
This document describes an electrically insulative material that meets various aviation standards for low smoke, toxicity, and flame retardancy. It has high tensile and bond strength, can be conveniently processed with a 4-5 hour working life, and passes vertical burn tests to meet FAA standards for aircraft applications.
Este documento trata sobre fenómenos y desastres naturales. Explica que los fenómenos naturales son sucesos que ocurren sin la participación humana, mientras que un desastre natural implica daño a personas y el entorno. Luego presenta actividades para que los estudiantes definan términos como huracán e inundación, relacionen fenómenos con desastres potenciales, y propongan medidas de prevención ante desastres naturales mediante dibujos.
Este documento presenta la primera unidad de un curso de Contabilidad I. La unidad introduce conceptos básicos sobre empresas, incluyendo definiciones de empresa, clasificaciones de empresas según su actividad, tamaño y capital, y tipos de comerciantes. También explica la función de la contabilidad en las empresas y conceptos clave como cuentas, clasificaciones de cuentas, y algunos principios básicos de contabilidad. El objetivo es que los estudiantes entiendan el contexto de las empresas y el propósito de la contabilidad antes de apre
Escuela superior politécnica del chimborazoandres tello
El documento habla sobre Google School, un tema de computación para estudiantes de primer año de la Escuela de Ingeniería Zootécnica de la Facultad de Ciencias Pecuarias de la Escuela Superior Politécnica del Chimborazo. El autor es Jonathan Nuñez y la fecha es el 6 de julio de 2016.
DEVELOPMENT of PROTOTYPE LAPAROSCOPIC GRASPER with HAPTIC FEEDBACKAM Publications
The introduction of robot-assisted surgery into the operating room has revolutionized the medical field.
These systems not only have the advantages of traditional minimally invasive surgery (MIS), such as reduced patient
trauma and recovery time, lower morbidity, and lower health care costs, but they also eliminate surgeon tremor,
reduce the effects of surgeon fatigue, and incorporate the ability to perform remote surgical procedures. However,
current robotic surgical systems, such as the Da Vinci™ Surgical System, lack the capability of providing force
feedback to the surgeon that is present in conventional surgery. Therefore, this lack of force feedback presents
excellent developmental opportunities for surgeons and engineers to create novel surgical tools and methods to
incorporate force feedback capabilities into these robotic surgical systems. The goal of this research is to restore force
feedback capability to the surgeon in robot-assisted surgery through a haptic interaction experience involving force
feedback from the surgical site using our novel teleoperation platform. This project will summarize our research
including: 1)The Laparoscopic tool will be mounted over robotic arm.2)The Laparoscopic grasper can be integrated
with force feedback system and tactile system.3)Incorporation of master slave technique in prototype model.4)The
sensors will be used to transmit force data to slave controller and then transmitted wirelessly to master controller
which then controlled by servo motor(force feedback device.5)Opening and closing process of Laparoscopic grasper is controlled by servo motor.
Tesis Irene Rivas - Smart Camera Robotic Assistant for Laparoscopic SurgeryRobótica Médica UMA
In the last decades, laparoscopic surgery has become a daily practice in operating rooms worldwide, which evolution is tending towards less invasive techniques. In this scenario, robotics has found a wide field of application, from slave robotic systems that replicate the movements of the surgeon to autonomous robots able to assist the surgeon in certain maneuvers or to perform autonomous surgical tasks. However, these systems require the direct supervision of the surgeon, and its capacity of making decisions and adapting to dynamic environments is very limited. This PhD dissertation presents the design and implementation of a smart camera robotic assistant to collaborate with the surgeon in a real surgical environment. First, it presents the design of a novel camera robotic assistant able to augment the capacities of current vision systems. This robotic assistant is based on an intra-abdominal camera robot, which is completely inserted into the patient’s abdomen and it can be freely moved along the abdominal cavity by means of magnetic interaction with an external magnet. To provide the camera with the autonomy of motion, the external magnet is coupled to the end effector of a robotic arm, which controls the shift of the camera robot along the abdominal wall. This way, the robotic assistant proposed in this dissertation has six degrees of freedom, which allow providing a wider field of view compared to the traditional vision systems, and also to have different perspectives of the operating area. On the other hand, the intelligence of the system is based on a cognitive architecture specially designed for autonomous collaboration with the surgeon in real surgical environments. The proposed architecture simulates the behavior of a human assistant, with a natural and intuitive human-robot interface for the communication between the robot and the surgeon. The cognitive architecture also includes learning mechanisms to adapt the behavior of the robot to the different ways of working of surgeons, and to improve the robot behavior through experience, in a similar way as a human assistant would do.
The theoretical concepts of this dissertation have been validated both through in-vitro experimentation in the labs of medical robotics of the University of Malaga and through in-vivo experimentation with pigs in the IACE Center (Instituto Andaluz de Cirugía Experimental), performed by expert surgeons.
Tesis Belén Estebanez - Diseño e Implantación de un Sistema Multimodal para u...Robótica Médica UMA
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...Robótica Médica UMA
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 AssistantRobótica Médica UMA
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.
AIM 2014 - Control Architecture of a sensorless robotic platform for Minimall...Robótica Médica UMA
This paper presents a modular robotic platform for Minimally Invasive Surgery (MIS) composed of several miniaturized robotic units anchored to a magnetic frame. The description of the hardware features of the platform is presented, along with a master/slave control architecture to intuitively handle two robotic units. Kinematic coupling between master and slave devices enhances the intuitiveness of the system, making possible to handle it dexterously with two Phantoms Omni devices. In order to evaluate the feasibility of the control scheme, pick and place experiments have been carried out, and the learning curve of the system was determined by performing experimental sessions with 5 users. As the miniature robotic units are not provided with sensors, an initial autocalibration method based on image analysis has been developed in order to avoid joints position errors. The control architecture showed good performance in terms of control speed.
IROS 2013 - Force-Position Control for a Miniature Camera Robotic System for ...Robótica Médica UMA
This paper describes the design and implementation of a robotic vision system for single-site surgery. The system is composed of a wireless miniature camera robot with magnetic pan and tilt capabilities, and an external robotic arm to guide the camera along the abdominal wall. The camera robot is provided with a set of magnets, and a magnetic holder is attached at the end effector of the manipulator. This way, the camera robot can be displaced to obtain additional viewpoints of the abdominal cavity by displacing the external manipulator. The first prototype of the
camera robot with an embedded LED lighting system is described. To properly displace the robotic arm over the abdominal wall, a hybrid force-position control has been developed, which includes a torque compensation module in order to obtain an appropriate orientation of the end effector. The contact surface has been assumed to be an elastic model, which stiffness matrix is estimated with a recurrent least squares algorithm. Finally, an in-vitro experiment to validate the control scheme proposed is presented.
MEDICON 2013 - Single Incision Laparoscopic Surgery Using a Miniature Robotic...Robótica Médica UMA
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.
ROBOT 2017 - Collaborative robotic system for hand-assisted laparoscopic surgeryRobótica Médica UMA
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.
RAAD 2010 - A Multi-Behavior Algorithm for Auto-Guided Movements in Surgeon A...Robótica Médica UMA
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.
ROBOT 2009 - CISOBOT: Robot Asistente Dotado con Interface Inteligente Basado...Robótica Médica UMA
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.
IECON 2012 - Robotic System for Single Incision Laparoscopic SurgeryRobótica Médica UMA
This paper proposes a robotic system to assist and collaborate with surgeons in Single Incision Laparoscopic Surgery (SILS) operations. The system, aim at solving the main drawbacks of this kind of surgery, is composed of a miniature camera robot and a redundant robotic grasper. Positioning of both robots inside the patient’s abdomen is done by means of magnetic control. External magnetic sources are placed at the end effector of two robotic arms, and permanent magnets are integrated in the robots. Camera robot is provided with three permanent magnets, so both position and orientation can be controlled. Sliding control, which is robust against perturbations and parameter uncertainties, is chosen. Robotic grasper’s redundancy makes possible autonomously obstacle avoidance and increases its workspace. The haptic device is designed so as surgeons can handle the grasper as if it were a conventional tool. In order to this aim, augmented reality is used to simulate a traditional tool in the visual feedback system, in substitution of the robotic grasper. Besides the telemanipulation, requirements for autonomously functions to assist surgeons in the specific tasks of suturing are discussed.
BIOROB 2012 - Maneuvers Recognition in Laparoscopic Surgery: Artificial Neura...Robótica Médica UMA
The work presented in this paper is focused on movement recognition as a first step to achieve the automation of a two-arm-surgical-robotic-system in the laparoscopic surgical environment. In order to accomplish coordination between the surgeon and the robotic assistant, a system able to recognize and differentiate between certain standard surgical maneuvers should be developed. Two different methodologies are proposed to model and identify several surgical maneuvers. The first method is based on Artificial Neural Networks (ANN), by codifying the movements through their Fourier spectra and the second one is based on HMMs which represents the interaction between the surgical tools. The proposed approaches will be tested through a set of experiments that mimic surgical movements as in tissue cutting, suturing and transporting. In this way, the recognition system is able to distinguish between the different maneuvers which have been modeled.
ROBOT 2011 - Robot Quirúrgico Auto-Guiado para Cirugía Mínimamente Invasiva e...Robótica Médica UMA
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...Robótica Médica UMA
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 invasivaRobótica Médica UMA
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 2010 - Auto-Guided Movements on Minimally Invasive Surgery for Surgeon A...Robótica Médica UMA
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. This planner has been implemented and tested on the control architecture of the surgical assistant CISOBOT, designed and developed at the University of Malaga.
Flying High: Flame Retardant EP90FR-V Epoxy SystemMaster Bond
This document describes an electrically insulative material that meets various aviation standards for low smoke, toxicity, and flame retardancy. It has high tensile and bond strength, can be conveniently processed with a 4-5 hour working life, and passes vertical burn tests to meet FAA standards for aircraft applications.
Este documento trata sobre fenómenos y desastres naturales. Explica que los fenómenos naturales son sucesos que ocurren sin la participación humana, mientras que un desastre natural implica daño a personas y el entorno. Luego presenta actividades para que los estudiantes definan términos como huracán e inundación, relacionen fenómenos con desastres potenciales, y propongan medidas de prevención ante desastres naturales mediante dibujos.
Este documento presenta la primera unidad de un curso de Contabilidad I. La unidad introduce conceptos básicos sobre empresas, incluyendo definiciones de empresa, clasificaciones de empresas según su actividad, tamaño y capital, y tipos de comerciantes. También explica la función de la contabilidad en las empresas y conceptos clave como cuentas, clasificaciones de cuentas, y algunos principios básicos de contabilidad. El objetivo es que los estudiantes entiendan el contexto de las empresas y el propósito de la contabilidad antes de apre
Escuela superior politécnica del chimborazoandres tello
El documento habla sobre Google School, un tema de computación para estudiantes de primer año de la Escuela de Ingeniería Zootécnica de la Facultad de Ciencias Pecuarias de la Escuela Superior Politécnica del Chimborazo. El autor es Jonathan Nuñez y la fecha es el 6 de julio de 2016.
DEVELOPMENT of PROTOTYPE LAPAROSCOPIC GRASPER with HAPTIC FEEDBACKAM Publications
The introduction of robot-assisted surgery into the operating room has revolutionized the medical field.
These systems not only have the advantages of traditional minimally invasive surgery (MIS), such as reduced patient
trauma and recovery time, lower morbidity, and lower health care costs, but they also eliminate surgeon tremor,
reduce the effects of surgeon fatigue, and incorporate the ability to perform remote surgical procedures. However,
current robotic surgical systems, such as the Da Vinci™ Surgical System, lack the capability of providing force
feedback to the surgeon that is present in conventional surgery. Therefore, this lack of force feedback presents
excellent developmental opportunities for surgeons and engineers to create novel surgical tools and methods to
incorporate force feedback capabilities into these robotic surgical systems. The goal of this research is to restore force
feedback capability to the surgeon in robot-assisted surgery through a haptic interaction experience involving force
feedback from the surgical site using our novel teleoperation platform. This project will summarize our research
including: 1)The Laparoscopic tool will be mounted over robotic arm.2)The Laparoscopic grasper can be integrated
with force feedback system and tactile system.3)Incorporation of master slave technique in prototype model.4)The
sensors will be used to transmit force data to slave controller and then transmitted wirelessly to master controller
which then controlled by servo motor(force feedback device.5)Opening and closing process of Laparoscopic grasper is controlled by servo motor.
Tesis Irene Rivas - Smart Camera Robotic Assistant for Laparoscopic SurgeryRobótica Médica UMA
In the last decades, laparoscopic surgery has become a daily practice in operating rooms worldwide, which evolution is tending towards less invasive techniques. In this scenario, robotics has found a wide field of application, from slave robotic systems that replicate the movements of the surgeon to autonomous robots able to assist the surgeon in certain maneuvers or to perform autonomous surgical tasks. However, these systems require the direct supervision of the surgeon, and its capacity of making decisions and adapting to dynamic environments is very limited. This PhD dissertation presents the design and implementation of a smart camera robotic assistant to collaborate with the surgeon in a real surgical environment. First, it presents the design of a novel camera robotic assistant able to augment the capacities of current vision systems. This robotic assistant is based on an intra-abdominal camera robot, which is completely inserted into the patient’s abdomen and it can be freely moved along the abdominal cavity by means of magnetic interaction with an external magnet. To provide the camera with the autonomy of motion, the external magnet is coupled to the end effector of a robotic arm, which controls the shift of the camera robot along the abdominal wall. This way, the robotic assistant proposed in this dissertation has six degrees of freedom, which allow providing a wider field of view compared to the traditional vision systems, and also to have different perspectives of the operating area. On the other hand, the intelligence of the system is based on a cognitive architecture specially designed for autonomous collaboration with the surgeon in real surgical environments. The proposed architecture simulates the behavior of a human assistant, with a natural and intuitive human-robot interface for the communication between the robot and the surgeon. The cognitive architecture also includes learning mechanisms to adapt the behavior of the robot to the different ways of working of surgeons, and to improve the robot behavior through experience, in a similar way as a human assistant would do.
The theoretical concepts of this dissertation have been validated both through in-vitro experimentation in the labs of medical robotics of the University of Malaga and through in-vivo experimentation with pigs in the IACE Center (Instituto Andaluz de Cirugía Experimental), performed by expert surgeons.
Tesis Belén Estebanez - Diseño e Implantación de un Sistema Multimodal para u...Robótica Médica UMA
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...Robótica Médica UMA
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 AssistantRobótica Médica UMA
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.
AIM 2014 - Control Architecture of a sensorless robotic platform for Minimall...Robótica Médica UMA
This paper presents a modular robotic platform for Minimally Invasive Surgery (MIS) composed of several miniaturized robotic units anchored to a magnetic frame. The description of the hardware features of the platform is presented, along with a master/slave control architecture to intuitively handle two robotic units. Kinematic coupling between master and slave devices enhances the intuitiveness of the system, making possible to handle it dexterously with two Phantoms Omni devices. In order to evaluate the feasibility of the control scheme, pick and place experiments have been carried out, and the learning curve of the system was determined by performing experimental sessions with 5 users. As the miniature robotic units are not provided with sensors, an initial autocalibration method based on image analysis has been developed in order to avoid joints position errors. The control architecture showed good performance in terms of control speed.
IROS 2013 - Force-Position Control for a Miniature Camera Robotic System for ...Robótica Médica UMA
This paper describes the design and implementation of a robotic vision system for single-site surgery. The system is composed of a wireless miniature camera robot with magnetic pan and tilt capabilities, and an external robotic arm to guide the camera along the abdominal wall. The camera robot is provided with a set of magnets, and a magnetic holder is attached at the end effector of the manipulator. This way, the camera robot can be displaced to obtain additional viewpoints of the abdominal cavity by displacing the external manipulator. The first prototype of the
camera robot with an embedded LED lighting system is described. To properly displace the robotic arm over the abdominal wall, a hybrid force-position control has been developed, which includes a torque compensation module in order to obtain an appropriate orientation of the end effector. The contact surface has been assumed to be an elastic model, which stiffness matrix is estimated with a recurrent least squares algorithm. Finally, an in-vitro experiment to validate the control scheme proposed is presented.
MEDICON 2013 - Single Incision Laparoscopic Surgery Using a Miniature Robotic...Robótica Médica UMA
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.
ROBOT 2017 - Collaborative robotic system for hand-assisted laparoscopic surgeryRobótica Médica UMA
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.
RAAD 2010 - A Multi-Behavior Algorithm for Auto-Guided Movements in Surgeon A...Robótica Médica UMA
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.
ROBOT 2009 - CISOBOT: Robot Asistente Dotado con Interface Inteligente Basado...Robótica Médica UMA
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.
IECON 2012 - Robotic System for Single Incision Laparoscopic SurgeryRobótica Médica UMA
This paper proposes a robotic system to assist and collaborate with surgeons in Single Incision Laparoscopic Surgery (SILS) operations. The system, aim at solving the main drawbacks of this kind of surgery, is composed of a miniature camera robot and a redundant robotic grasper. Positioning of both robots inside the patient’s abdomen is done by means of magnetic control. External magnetic sources are placed at the end effector of two robotic arms, and permanent magnets are integrated in the robots. Camera robot is provided with three permanent magnets, so both position and orientation can be controlled. Sliding control, which is robust against perturbations and parameter uncertainties, is chosen. Robotic grasper’s redundancy makes possible autonomously obstacle avoidance and increases its workspace. The haptic device is designed so as surgeons can handle the grasper as if it were a conventional tool. In order to this aim, augmented reality is used to simulate a traditional tool in the visual feedback system, in substitution of the robotic grasper. Besides the telemanipulation, requirements for autonomously functions to assist surgeons in the specific tasks of suturing are discussed.
BIOROB 2012 - Maneuvers Recognition in Laparoscopic Surgery: Artificial Neura...Robótica Médica UMA
The work presented in this paper is focused on movement recognition as a first step to achieve the automation of a two-arm-surgical-robotic-system in the laparoscopic surgical environment. In order to accomplish coordination between the surgeon and the robotic assistant, a system able to recognize and differentiate between certain standard surgical maneuvers should be developed. Two different methodologies are proposed to model and identify several surgical maneuvers. The first method is based on Artificial Neural Networks (ANN), by codifying the movements through their Fourier spectra and the second one is based on HMMs which represents the interaction between the surgical tools. The proposed approaches will be tested through a set of experiments that mimic surgical movements as in tissue cutting, suturing and transporting. In this way, the recognition system is able to distinguish between the different maneuvers which have been modeled.
ROBOT 2011 - Robot Quirúrgico Auto-Guiado para Cirugía Mínimamente Invasiva e...Robótica Médica UMA
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...Robótica Médica UMA
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 invasivaRobótica Médica UMA
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 2010 - Auto-Guided Movements on Minimally Invasive Surgery for Surgeon A...Robótica Médica UMA
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. This planner has been implemented and tested on the control architecture of the surgical assistant CISOBOT, designed and developed at the University of Malaga.
IROS 2009 - Minimally Invasive Surgery Maneuver Recognition Based On Surgeon ...Robótica Médica UMA
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.
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IROS 2009 - Three-layer Control for Active Wrists in Robotized Laparoscopic Surgery
1. International Conference on Robots and Systems 2009
THREE-LAYER CONTROL FOR ACTIVE WRISTS IN
ROBOTIZED LAPAROSCOPIC SURGERY
Enrique Bauzano-Núñez, Víctor Muñoz-Martínez
Isabel García-Morales, Belén Estebanez-Campos
System Engineering and
Automation Department
System Engineering and Automation Department
http://www.isa.uma.es
University of Malaga (Spain)
Enrique Bauzano Nuñez
ebauzano@uma.es
2. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery
OUTLINE
I. General Overview
II. Laparoscopic Navigation Problem
III.Control Strategy
IV.Implantation and Experiments
System Engineering and
Automation Department
V. Conclusions and Future Works
Enrique Bauzano Nuñez
ebauzano@uma.es
3. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery
INDEX
I. Overview
II.Laparoscopic
Navigation
III.Control
Strategy
IV.Experiments
V.Conclusions
I. GENERAL OVERVIEW
System Engineering and
Automation Department
Enrique Bauzano Nuñez
ebauzano@uma.es
4. I. General Overview
CISOBOT: SEMI-AUTONOMOUS ROBOT ASSISTANT
INDEX
I. Overview
II.Laparoscopic Surgeon
Navigation
Tool Movement Voice Command
III.Control
Strategy
IV.Experiments
V.Conclusions
3D Tracking
Navigation
Tool
Position/Orientation
Controller
Surgeon Maneuver
Model Robot
System Engineering and
Automation Department
Direct Intervention
Processed Assistant
Image
Image
Processing
Patient
Enrique Bauzano Nuñez
ebauzano@uma.es
5. I. General Overview
ROBOTIC WRISTS COMPARATIVE
INDEX
I. Overview
II.Laparoscopic
Navigation
III.Control
Strategy • Null forces on abdomen
IV.Experiments • Precision depends on fulcrum
V.Conclusions
accuracy
• Null forces on abdomen
• Special instruments needed
• Previous calibration
System Engineering and
Automation Department
• Voluminous mechanisms
• No additional mechanisms on wrist
• No special instruments needed
• Low volume
• May apply forces on abdomen
Enrique Bauzano Nuñez
ebauzano@uma.es
6. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery
INDEX
I. Overview
II.Laparoscopic
Navigation
III.Control
Strategy
IV.Experiments
V.Conclusions
II. LAPAROSCOPIC NAVIGATION PROBLEM
System Engineering and
Automation Department
Enrique Bauzano Nuñez
ebauzano@uma.es
7. II. Laparoscopic Navigation Problem
GLOBE-SHAPED MOVEMENTS
INDEX
I. Overview
II.Laparoscopic
Navigation
III.Control
Strategy
IV.Experiments {I} Fulcrum point
V.Conclusions
Orientation angle
Altitude angle
External distance
System Engineering and
Automation Department
Aim: “Solve the motion problem of an endoscope for a laparoscopic
surgery robot assistant with an actuated wrist.”
Enrique Bauzano Nuñez
ebauzano@uma.es
8. II. Laparoscopic Navigation Problem
NAVIGATION STRATEGY
INDEX
I. Overview
ZI
II.Laparoscopic
Navigation
L3
III.Control
L1
Strategy
1. Rotate around estimated fulcrum
IV.Experiments
Fulcrum displacement over the abdomen
V.Conclusions
2. Passive Wrist Behavior
Endoscope rotation over the wrist to reduce C
fulcrum displacement
System Engineering and
Automation Department
3. Altitude angle correction
Recover desired altitude angle
XI I
Enrique Bauzano Nuñez
ebauzano@uma.es
9. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery
INDEX
I. Overview
II.Laparoscopic
Navigation
III.Control
Strategy
IV.Experiments
V.Conclusions
III. CONTROL STRATEGY
System Engineering and
Automation Department
Enrique Bauzano Nuñez
ebauzano@uma.es
10. III. Control Strategy
SYSTEM ARCHITECTURE
INDEX
I. Overview
Layer-1 Voice Command
II.Laparoscopic
Spherical Control Surgeon
Navigation
III.Control
Strategy Spherical Reference
IV.Experiments
Layer-2
Passive Wrist Emulation
V.Conclusions
Spherical
Cartesian Reference
Location
Layer-3
Cartesian Control
Joints
Location
System Engineering and
Joint
Automation Department
Reference
Fulcrum
Robot Arm
Estimation
Arm
displacement
Endoscope-Abdomen Force
Interaction
Patient
Enrique Bauzano Nuñez
ebauzano@uma.es
11. III. Control Strategy
SPHERICAL CONTROL LOOP (LAYER-1)
INDEX
I. Overview
II.Laparoscopic
Navigation d e
Fd
III.Control Robot
T1 (kT1 )
+
Strategy Trajectory
e
Lr PWE
Generator
IV.Experiments d (kT1 ) r Controller
+-
V.Conclusions T1
c
Control PI
Layer-1
Spherical Control PI
System Engineering and
Automation Department
Action: Recover desired trajectory, which has been changed
with the passive wrist emulation (Layer-2).
1 1 e T1 /
Control PI Law: K I1
1 e T1 /
; K P1
(1 e T1 / ) e
Enrique Bauzano Nuñez
ebauzano@uma.es
12. III. Control Strategy
PASSIVE EMULATION BEHAVIOR LOOP (LAYER-2)
Endoscope-Abdomen Interaction
INDEX F (kT2 ) Gravity
I. Overview M (kT2 ) Sensor
External Distance
+ T2
II.Laparoscopic Estimator -
Navigation
III.Control e (kT2 ) (kT2 )
Strategy
Control PI
IV.Experiments Layer-2
V.Conclusions r
-
+
Fc (kT2 )
Lr
Robot T2 (kT2 )
+
Cartesian
Fd - Fr (kT2 ) 1 r (kT2 ) + r (kT2 ) Controller
-
+ ee
System Engineering and
Automation Department
Control PI Forces
Action: Reduce abdominal forces through a passive wrist
emulation movement.
Fx2 F y2 M
e
Passive Angle:
e Fx2 Fy2
1 e (1 e T / )
2
KI2 ; K P2
Control PI Law: 1 e T2 / (1 e T2 / )
Enrique Bauzano Nuñez
ebauzano@uma.es
13. III. Control Strategy
CARTESIAN CONTROL LOOP (LAYER-3)
INDEX
e
I. Overview
r
X r (kT3 )
II.Laparoscopic Cartesian
Navigation Planner
III.Control T3 X r (kT3 ) T3
Lr r (kT3 )
Strategy + KX ++ 1
J ( ) Robot T3
- z 1
IV.Experiments
V.Conclusions
X (kT3 ) (kT3 )
F ( )
(kT3 )
Cartesian-Spherical
Transform
System Engineering and
Automation Department
Action: Adapt robot dynamics to a first order behavior.
Control Law: r J 1 ( )(K x X X r )
Enrique Bauzano Nuñez
ebauzano@uma.es
14. III. Control Strategy
STABILITY
INDEX
I. Overview
II.Laparoscopic Spherical Level (Layer-1) and Passive Wrist Emulation (Layer-2):
Navigation
Eigenvalues on dynamic matrices must be lower than one.
III.Control
Strategy
IV.Experiments 1 e 1 1 e 1 1
A1 A2 ( e ) 1 ; e ( e ) 1
1 1
;
V.Conclusions 1 e
Stability condition:
System Engineering and
Automation Department
e 2 ; e 0.5
Enrique Bauzano Nuñez
ebauzano@uma.es
15. III. Control Strategy
STABILITY
INDEX
I. Overview
II.Laparoscopic Cartesian Level (Layer-3): Null dynamic error for proposed trajectory.
Navigation
III.Control
Strategy
r J 1 ( )( K x X X r )
IV.Experiments
V.Conclusions
Cartesian planner
PID
System Engineering and
Automation Department
K x X X r J 1
T T
kT3 T3 kT3
d
Kx X X r 0
Enrique Bauzano Nuñez
ebauzano@uma.es
16. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery
INDEX
I. Overview
II.Laparoscopic
Navigation
III.Control
Strategy
IV.Experiments
V.Conclusions
IV. IMPLANTATION AND EXPERIMENTS
System Engineering and
Automation Department
Enrique Bauzano Nuñez
ebauzano@uma.es
17. IV. Implantation and Experiments
EXPERIMENT 1: IN-VITRO TRIAL
INDEX
I. Overview
II.Laparoscopic
Navigation
III.Control
Strategy 2
IV.Experiments
V.Conclusions
forces (N)
System Engineering and
Automation Department
-2
0 time (sec) 30
Enrique Bauzano Nuñez
ebauzano@uma.es
18. IV. Implantation and Experiments
EXPERIMENT 2: ALTITUDE ORIENTATION
INDEX
I. Overview
II.Laparoscopic
Navigation
Orientation Angle
III.Control
Strategy
IV.Experiments
V.Conclusions
Altitude Angle
System Engineering and
Automation Department
Force on Fulcrum
Enrique Bauzano Nuñez
ebauzano@uma.es
19. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery
INDEX
I. Overview
II.Laparoscopic
Navigation
III.Control
Strategy
IV.Experiments
V.Conclusions
V. CONCLUSIONS AND FUTURE WORKS
System Engineering and
Automation Department
Enrique Bauzano Nuñez
ebauzano@uma.es
20. V. Conclusions
CONCLUSIONS
INDEX
The methodology proposed simplifies the
I. Overview
II.Laparoscopic
controller design by dividing the problem in
Navigation
simpler subtasks.
III.Control
Strategy
IV.Experiments
System behavior may be easily studied:
V.Conclusions stability, transient response, or steady state.
Useful scheme for fault tolerance analysis.
FUTURE WORKS
System Engineering and
Automation Department
Extend the controller features to read interaction forces inside the
abdominal cavity in order to perform tasks like displace tissues, cutting
operations, stitch…
Planning automatic movements according to surgeon commands.
Use flexible tools instead a rigid endoscope.
Enrique Bauzano Nuñez
ebauzano@uma.es
21. 3-Layer Control for Active Wrists in Robotized Laparoscopic Surgery
Thanks for your attention
System Engineering and
Automation Department
Enrique Bauzano Nuñez
ebauzano@uma.es