ROBOT 2011 - Robot Quirúrgico Auto-Guiado para Cirugía Mínimamente Invasiva en Solitario

•Transferir como PPTX, PDF•

0 gostou•392 visualizações

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.

Saúde e medicina

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
WORKSHOP ROBOT 2011
ROBOT QUIRÚRGICO AUTO-GUIADO PARA CIRUGÍA
MÍNIMAMENTE INVASIVA EN SOLITARIO
Grupo de Robótica Médica de la Universidad de Málaga
Dpto. Ingeniería de Sistemas y Automática
http://www.isa.uma.es
Universidad de Málaga (España)

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
CARACTERÍSTICAS DE LOS ASISTENTES ROBÓTICOS
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

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
ERM: DE LA INVESTIGACIÓN A LA PRODUCCIÓN
Pruebas
clínicas
Pruebas con
animales
Transferencia
de tecnología
Producto
comercial
2002 2004 2006 2009

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
ROBOTS QUIRÚRGICOS
•Movimientos automáticos
•Reconocimiento de gestos
del cirujano
Robots camarógrafos
Robots semi-autónomos
Sistemas tele-robóticos
Nivel 1
Nivel 2

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
ARQUITECTURA DEL CISOBOT

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
ESTRATEGIA DE CONTROL
R
C
O
S
RG
CG
OG
SG
Herramienta
del Robot
Camera manejada
por el Robot
Herramienta del
cirujano Objetivo
Herramienta del
Cirujano Obstáculo
Visión de
Campo
Abdomen
Trayectoria
del Robot
Problema de la navegación de la herramienta del Robot : Encontrar
un camino para que la herramienta del robot alcance la herramienta objetivo
manejada por el cirujano.

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
ESTRATEGIA DE CONTROL
Decisión
Fuzzy
Planificación
de Caminos
Correción en
Velocidad
Movimiento
Retroceso
Σ
SISTEMA DE AUTO-GUIADO ( PLANIFICADOR LOCAL )
c1
c2
c3
v1
v2
v3
vobstáculo
vrobot
2
1
3
4
vobstáculo
vrobot
DECISIÓN FUZZY

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
RESULTADOS EXPERIMENTALES

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
TABLA DE EVENTOS, DETECCIÓN Y ACTUACIÓN
Evento Detección Actuación

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
RESULTADOS EXPERIMENTALES
Colisión con la herramienta del cirujano Colisión con el tejido

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
MODELO DEL CIRUJANO
Insertar Aguja Sujetar Tejido Agarrar Aguja
Maniobra: Secuencia específica de acciones básicas, modeladas
por medio de HMM.
Assistir Nudo Hacer nudo
Acción Básica: Interacción entre las herramientas quirúrgicas
manejadas por el cirujano.
Ángulo Distancia Velocidad
herramienta
Izquierda
Velocidad
herramienta
Derecha
Insertar Aguja

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
MODELO DEL CIRUJANO
Librería de
Maniobras
Modelo de la
Intervención
Procesado de
Datos
SISTEMA DE
RECONOCIMIENTO
Position and
Orientation
of the
Surgical Tool
Maniobras
HMMs
Última maniobra
desarrollada
Comando
de Voz
Maniobra Actual mediante
Comandos de Gestos
MANIOBRA
ACTUAL

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
EXPERIMENTOS IN-VITRO

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
RESULTADOS EXPERIMENTALES
Sistema de Adquisición de Datos
Sutura Corte Transporte
Sutura 150 10 0
Transporte 0 110 15
Corte 0 30 135
Reales
Aciertos
Resultados en la ejecución de
protocolos
Resultados en el reconocimiento de maniobras aisladas

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
ASISTENTE ROBÓTICO CISOBOT
Micrófono
Marcas en las
herramientas quirúrgicas

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
DEMOSTRADOR CISOBOT

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es
RESULTADOS TRANSFERIBLES
Desarrollo de un sistema de navegación que permite la ejecución de tareas
semiautónomas en colaboración con el cirujano.
Sistema de navegación auto-guiado capaz de reaccionar ante situaciones
diversas que puedan aparecer en un entorno de difícil acceso y con
limitaciones de movimiento para el robot, basándose en un conjunto de
comportamientos que incluye la planificación de movimientos.
Sistema de reconocimiento de maniobras quirúrgicas basado en Modelos
Ocultos de Markov que forman parte del interfaz multimodal, pudiéndose
reconocer tanto gestos quirúrgicos como comandos de voz.
Implantación de un sistema tolerante a fallos para mejorar la seguridad en
caso de anomalías en el comportamiento del sistema robótico.

DepartamentodeIngeniería
deSistemasyAutomática
Víctor F. Muñoz Martínez
vfmm@uma.es

Mais conteúdo relacionado

Semelhante a ROBOT 2011 - Robot Quirúrgico Auto-Guiado para Cirugía Mínimamente Invasiva en Solitario

3 automatizacion general

william chuquija

Automatización industrial

Universidad de los Llanos|

Inteligencia artificial - Robot Da Vinci

Ruben Marquez

ROBOTICA2.ppt

josuet2009

Automatizacion (Control Numerico.Robotica)

Mafe Hernandez

Automatizacion (cnc y robotica

Amilkar Padilla Beltran

Tarea 1 cpi

vlad1409

Desarrollan un robot quirúrgico que 'comprende' la

david6970

2. CNC EMCO DIAPOSITIVAS PRESENTACION .pptx

Milton Diaz Perez

AUTOMATIZACIÓN EN LA MANUFACTURA

Juan Manuel Carrión Delgado

Plc inf tema 1.1.1 y 1.1.2

tobe2190

Linea de-investigacic3b3n-automatizacion-y-control-para-computacic3b3n-lar-20...

Yambal

Antofagasta - Sesion N° 1 (CONTROL 2021).pptx

Guillermo Marcelo Badillo Muñoz

Automatización

Lalo Garcia

SUPERVISIÓN (PARTE II)

UDO Monagas

Automatizacion

salazar89

Ciber Robótica 9ª Guia Noveno.docx

Roy Chavarria

Practical Applications of Movement Control Technology in the Acquisition of C...

Technological Ecosystems for Enhancing Multiculturality

Sistemas automáticos

Daniel Rodríguez

Equipo 2 Control numerico.pptxdjdjjddjj

VctorHugo70

Semelhante a ROBOT 2011 - Robot Quirúrgico Auto-Guiado para Cirugía Mínimamente Invasiva en Solitario (20)

3 automatizacion general

Automatización industrial

Inteligencia artificial - Robot Da Vinci

ROBOTICA2.ppt

Automatizacion (Control Numerico.Robotica)

Automatizacion (cnc y robotica

Tarea 1 cpi

Desarrollan un robot quirúrgico que 'comprende' la

2. CNC EMCO DIAPOSITIVAS PRESENTACION .pptx

AUTOMATIZACIÓN EN LA MANUFACTURA

Plc inf tema 1.1.1 y 1.1.2

Linea de-investigacic3b3n-automatizacion-y-control-para-computacic3b3n-lar-20...

Antofagasta - Sesion N° 1 (CONTROL 2021).pptx

Automatización

SUPERVISIÓN (PARTE II)

Automatizacion

Ciber Robótica 9ª Guia Noveno.docx

Practical Applications of Movement Control Technology in the Acquisition of C...

Sistemas automáticos

Equipo 2 Control numerico.pptxdjdjjddjj

Mais de Robótica 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 Irene Rivas - Smart Camera Robotic Assistant for Laparoscopic Surgery

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 Belén Estebanez - Diseño e Implantación de un Sistema Multimodal para u...

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.

Tesis Enrique Bauzano - Robot Asistente Semiautónomo de dos Brazos para Inter...

Robótica 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.

BIOROB 2014 - Towards a Cognitive Camera Robotic Assistant

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.

AIM 2014 - Control Architecture of a sensorless robotic platform for Minimall...

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.

IROS 2013 - Force-Position Control for a Miniature Camera Robotic System for ...

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.

MEDICON 2013 - Single Incision Laparoscopic Surgery Using a Miniature Robotic...

Robótica 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.

ROBOT 2017 - Collaborative robotic system for hand-assisted laparoscopic surgery

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.

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

Robótica 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.

IECON 2012 - Robotic System for Single Incision Laparoscopic Surgery

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.

BIOROB 2012 - Maneuvers Recognition in Laparoscopic Surgery: Artificial Neura...

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.

IROS 2011 - Surgical Tools Pose Estimation for a Multimodal HMI of a Surgical...

Robótica Médica UMA

IROS 2010 - Auto-Guided Movements on Minimally Invasive Surgery for Surgeon A...

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.

IROS 2009 - Minimally Invasive Surgery Maneuver Recognition Based On Surgeon ...

Robótica Médica UMA

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.

IROS 2009 - Three-layer Control for Active Wrists in Robotized Laparoscopic S...

Robótica Médica UMA

Mais de Robótica Médica UMA (15)