raad 2010 - a multi-behavior algorithm for auto-guided movements in surgeon assistance

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System Engineering and Automation Departmenthttp://www.isa.uma.esUniversity of Malaga (Spain)ROBOTICS IN ALPE-ADRIA-DANUBE REGION (RAAD 2010)A Multi-Behavior Algorithm for Auto-Guided Movements in Surgeon AssistanceEnrique Bauzano NezVctor Muoz-Martnez, Isabel Garca-Morales

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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Auto-Guided Movements in Surgeon AssistanceOutlineGeneral OverviewLaparoscopic Auto-Guided Navigation ProblemControl StrategyAPF behaviorVelocity correctionsBackward movementImplantation and ExperimentsConclusions and Future Works

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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I. General OverviewIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsAuto-Guided Movements in Surgeon Assistance

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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I. General OverviewLaparoscopic SurgeryAdvantages Lessen recovery time Limit post-operative complications Lower scarsConstraints Movement limitations Loss of touch and 3D perception Hand-eye coordination problemsIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsMain Drawback of Robotic Assistants: Lengthen operating timeSolution: Give more autonomy to surgeon assistants

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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A Semi-Autonomous Micro-Robotic System for Colonoscopy (Robotics & Biomimetics, 2008) G. Chen & M. PhamMotion Estimation in Beating Heart Surgery (Biomedical Engineering, 2005) T. Ortmaier, M. Grger et al.I. General OverviewVisual 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.ExamplesIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusions

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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II. Laparoscopic Auto-Guided Navigation ProblemIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsAuto-Guided Movements in Surgeon Assistance

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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IndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsII. Laparoscopic Auto-Guided Navigation Problem

RobotCameraTarget ToolObstacle ToolView FieldAbdomenRobot Trajectory

GOAL: Find a path for the robot to reach the Target tool by avoiding the Obstacle Tool.

Auto-Guided Navigation Problem

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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Rotate around estimated fulcrum Fulcrum displacement over the abdomenPassive Wrist Behavior Endoscope rotation over the wrist to reduce fulcrum displacementAltitude angle correction Recover desired altitude angle

IL3L1XIZICPassive Wrist Emulation StrategyIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsII. Laparoscopic Auto-Guided Navigation Problem3-Layer Control for Active Wrists in Laparoscopic Surgery (IROS, 2009) E. Bauzano, V.F. Munoz et al.

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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CISOBOT: Semi-Autonomous Robot Assistant

SurgeonPatientSurgeon Model3D TrackingImage ProcessingToolMovementSurgeon Command (Voice, Gesture)Surgeons Tools LocationManeuverProcessed ImageDirect Intervention

Robot AssistantPWE ControllerAuto-Guide SystemRobotTrajectoryImageCaptionIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsII. Laparoscopic Auto-Guided Navigation Problem

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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III. Control StrategyIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsAuto-Guided Movements in Surgeon Assistance

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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IndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsIII. Control StrategyMulti-Behavior Obstacle Avoider

Fuzzy DecisionAPF PlannerVelocity CorrectionsBackward MovementAuto-Guide System (Local Planner)c1c2c3v1v2v3vobstaclevrobot

2134vobstaclevrobotFuzzy Decision

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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IndexOverviewAuto-Guided ProblemControl StrategyAPF PlannerVelocity CorrectionsBackward movementExperimentsConclusionsIII. Control StrategyArtificial Potential Field (APF) Planner

Procedure for Automatic MovementsLocate the minimal distance point MRCalculate its target MRfApply the forces and compute the needed velocity of MRMove the robot tool to fit both, the new location and the fulcrum constraint GREnd Procedure

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.

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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III. Control StrategyVelocity Corrections

Estimated obstacle trajectoryRobots Path

Time to crossDistance to cross

IndexOverviewAuto-Guided ProblemControl StrategyAPF PlannerVelocity CorrectionsBackward movementExperimentsConclusions

Behavior: Reduce the robot velocity when it moves nearby the surgeons obstacle tool.

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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III. Control StrategyBackward Movement

IndexOverviewAuto-Guided ProblemControl StrategyAPF PlannerVelocity CorrectionsBackward movementExperimentsConclusions

GRGO

Behavior: Follow the surgeons obstacle tool trajectory when he or she forces the contact with the robot tool.

min

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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IV. Implantation and ExperimentsIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsAuto-Guided Movements in Surgeon Assistance

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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IndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsIV. Implantation and Experiments

ImplantationRobot Assistant3D TrackerCamera ToolSurgeons ToolsVirtual PatientForce Sensor

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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IndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsIV. Implantation and ExperimentsIn-Vitro ExperimentLink to videoCISOBOT Video

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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IndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsIV. Implantation and ExperimentsExperimental Results

Static ObstacleDynamic Obstacle

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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V. Conclusions and Future WorksIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusionsAuto-Guided Movements in Surgeon Assistance

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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ConclusionsThe 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 WorksIndexOverviewAuto-Guided ProblemControl StrategyExperimentsConclusions

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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Thanks for your attention Auto-Guided Movements in Surgeon Assistance

System Engineering and Automation DepartmentMr. Enrique Bauzano Nuez ebauzano@uma.es

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