Post on 28-Jan-2018
transcript
COLLABORATIVE ROBOTIC SYSTEM FOR
HAND-ASSISTED LAPAROSCOPIC SURGERY
MEDICAL ROBOTICS
medicalrobotics.uma.es
Speaker: Dr. Enrique Bauzano Núñez
Authors: M.C. López Casado (mclopezc@uma.es)E. Bauzano (ebauzano@uma.es)I. Rivas Blanco (irivas@uma.es)V.F. Muñoz (vfmm@uma.es)J.C. Fraile (jcfraile@eii.uva.es)
Some Examples of Surgical Robots
MEDICAL ROBOTICS
medicalrobotics.uma.es
IEEE Spectrum, 2016. Source: https://www.youtube.com/watch?v=2fnv_3qn3Yc
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 1 / 13
Classification of Surgical Robots by Autonomy
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 2 / 13
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
• Remote Surgery
• Improvement of
surgeon’s abilities
• …
• Direct Surgeon’s orders
• Visual Guidance
• Virtual Fixturing
• …
• Biopsies
• Palpating,
Cutting and Gluing
• Hair-Graft
• Tumor radiation
• …
MIS Techniques – Laparoscopic Surgery
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 3 / 13
MIS Techniques – Single Incision Laparoscopic Surgery
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 4 / 13
MIS Techniques – Hand Assisted Laparoscopic Surgery
GRUPO DE ROBÓTICA MÉDICA
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Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 5 / 13
How can we design a collaborative surgical robot?
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 6 / 13
Enviro
nm
ent
Surgeon PatientRobot
Assistant
Enviro
nm
ent
Robot-W
orld
In
tegra
tion
Surgeon PatientRobot
Assistant
HMIPerception
System
Action
System
How can we design a collaborative surgical robot?
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
High-Priority Orders:
- Voice
- Haptics
- GUI…
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 7 / 13
Sensors Processing:
- Image Processing
- Tools Location
- Hand Tracking…
Tools actions:
- Auto-Guided Tools
- Grasp actuation
- Tools Tracing…
How can we design a collaborative surgical robot?
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
Enviro
nm
ent
Robot-W
orld
In
tegra
tion
Cognitio
n
Long-Term Memory
Surgeon PatientRobot
Assistant
HMIPerception
System
Action
System
Procedural
Memory
Semantic
Memory
Decision
Procedure
Reinforcement
Learning
Working Memory
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 8 / 13
How can we design a collaborative surgical robot?
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 9 / 13
Cognitio
n
Long-Term Memory
Procedural
Memory
Semantic
Memory
Decision
Procedure
Reinforcement
Learning
Working Memory
DATABASE
Protocol States & Transitions,
Related Gestures/Actuations…
CODE
List of If–Then, Training algorithms…
REWARD–PENALTY Score Parametrized
expressions
Select which
If–Then statement has to be triggered
Current System State
Cognitio
n
Long-Term Memory
Procedural
Memory
Semantic
Memory
Decision
Procedure
Reinforcement
Learning
Working Memory
Process of the cognition layer
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
Enviro
nm
ent
Robot-W
orld
In
tegra
tion
Surgeon PatientRobot
Assistant
HMIPerception
System
Action
System
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 10 / 13
1. Scissors tool appears on the image
2. IF (Scissors on image) THEN State =
State + 1
3. State + 1 defines camera target as “scissors Tool Tìp”
4. Actuation Algorithm: Camera follows
“Scissors Tool Tip”
5. Move the camera to center “Scissors
Tool Tip”
6. Surgeon tells if the action was correct
7. If required, updates the trained camera parameters
on memory
Cognitive Robotic Assistant concept for HALS
Gesture Recognition System Auto-Guided System
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www.roboticamedica.uma.es
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 11 / 13
Cognitive Robotic Assistant concept for HALS
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 12 / 13
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
First approach of cognitive mini-camera assistant
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Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery 13 / 13
More information - Website
GRUPO DE ROBÓTICA MÉDICA
www.roboticamedica.uma.es
Collaborative Robotic System for Hand-Assisted Laparoscopic Surgery