Download - RAAD 2010 - A Multi-Behavior Algorithm for Auto-Guided Movements in Surgeon Assistance

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Mr. Enrique Bauzano Nuñez [email protected]

System Engineering and Automation Departmenthttp://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

ASSISTANCEEnrique Bauzano NúñezVíctor Muñoz-Martínez, Isabel García-Morales

http://www.isa.uma.es/

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Auto-Guided Movements in Surgeon Assistance

OUTLINE

I. General Overview

II. Laparoscopic Auto-Guided Navigation Problem

III.Control Strategya.APF behavior

b.Velocity corrections

c.Backward movement

IV.Implantation and Experiments

V. Conclusions and Future Works

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I. GENERAL OVERVIEW

INDEX

I. Overview

II.Auto-Guided Problem

III.Control Strategy

IV.Experiments

V.Conclusions


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I. General Overview

LAPAROSCOPIC SURGERYAdvantages

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



IV.Experiments

V.Conclusions

Main Drawback of Robotic Assistants: Lengthen operating time

Solution: Give more autonomy to surgeon assistants

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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



IV.Experiments

V.Conclusions

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II. LAPAROSCOPIC AUTO-GUIDED NAVIGATION PROBLEM

INDEX

I. Overview



IV.Experiments

V.Conclusions


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INDEX

I. Overview



IV.Experiments

V.Conclusions


RC 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

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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

L3L1

XI

ZI

C

PASSIVE WRIST EMULATION STRATEGY

INDEX

I. Overview



IV.Experiments

V.Conclusions


3-Layer Control for Active Wrists in Laparoscopic Surgery (IROS, 2009) E. Bauzano, V.F. Munoz et al.

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CISOBOT: SEMI-AUTONOMOUS ROBOT ASSISTANT

Surgeon

Patient

Surgeon Model

3D TrackingImage Processing

ToolMovement

Surgeon Command (Voice, Gesture…)

Surgeon’s Tools Location

Maneuver

Processed Image

Dire

ct In

terv

entio

nRobot

Assistant

PWE Controller

Auto-Guide System

RobotTrajectory

ImageCaption

INDEX

I. Overview



IV.Experiments

V.Conclusions


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III. CONTROL STRATEGY

INDEX

I. Overview



IV.Experiments

V.Conclusions


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INDEX

I. Overview



IV.Experiments

V.Conclusions

III. Control Strategy

MULTI-BEHAVIOR OBSTACLE AVOIDER

Fuzzy Decision

APF Planner

Velocity Correctio

ns

Backward Movemen

t

Σ

AUTO-GUIDE SYSTEM (LOCAL PLANNER)

c1

c2

c3

v1

v2

v3

vobstacle vrobot

2

1

34

vobstacle

vrobot

FUZZY DECISION

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INDEX

I. Overview



a.APF Planner

b.Velocity Corrections

c.Backward movement

IV.Experiments

V.Conclusions


ARTIFICIAL POTENTIAL FIELD (APF) PLANNER

Procedure for Automatic Movements1) Locate the minimal distance point MR

2) Calculate its target MRf

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

ifˆ2111

nr

KFgoal

rrep

goalaatt rKF

2

t

mFtvttv

1

111 )()(

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.

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VELOCITY CORRECTIONS

RM

OM

Estimated obstacle

trajectory

Robot’s Path

Time to cross

Distance to cross

INDEX

I. Overview



a.APF Planner


c.Backward movement

IV.Experiments

V.Conclusions

Behavior: Reduce the robot velocity when it moves nearby the surgeon’s obstacle tool.

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BACKWARD MOVEMENT

INDEX

I. Overview



a.APF Planner


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

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IV. IMPLANTATION AND EXPERIMENTS

INDEX

I. Overview



IV.Experiments

V.Conclusions


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INDEX

I. Overview



IV.Experiments

V.Conclusions

IV. Implantation and Experiments

IMPLANTATION

Robot Assistant

3D Tracker

Camera Tool

Surgeon’s Tools

Virtual Patient

Force Sensor

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INDEX

I. Overview



IV.Experiments

V.Conclusions


IN-VITRO EXPERIMENT

Link to videoCISOBOT Video

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INDEX

I. Overview



IV.Experiments

V.Conclusions


EXPERIMENTAL RESULTS

STATIC OBSTACLE

DYNAMIC OBSTACLE

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V. CONCLUSIONS AND FUTURE WORKS

INDEX

I. Overview



IV.Experiments

V.Conclusions


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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



IV.Experiments

V.Conclusions

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Thanks for your attention


Download - RAAD 2010 - A Multi-Behavior Algorithm for Auto-Guided Movements in Surgeon Assistance

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