Surgical Robot - Virginia Tech
Surgical Robot“Will AI driven robot replace a surgeon?”In K. Mun, PhDMedical Robotic Research, LLCc: 1 (305) 582-7221, e: ikm1@aol.com
Surgical Robots
Surgical Robot Functional Type Passive:ooo Active:ooo Robot / navigational tool to support a manual surgical approachSurgical approach based on 2D images and/or video imagesDecision making: Surgeon CentricRobot to support a pre-defined surgical planSurgical plan based on 2D/3D imagesDecision making: Surgical plan centric under surgeon’s supervisionIntelligent:oooRobot to support an AI-driven surgical planSurgical plan based on AI processed 2D/3D images and sensorsDecision making: AI-driven process with quality control
Surgical Robot Clinical Applications Radio-SurgeryoUnity (Elekta) Semi-Active Robotics (Radio-surgery Planning)MR-Linac, targeting based on 1.5T MR imagesImprove outcome without breaking skin Soft TissueoDa Vinci (Intuitive Surgical) Passive Robotics (Tele-presence)Surgical Planning with endoscope & video imagingImprove outcome Hard TissueoMako (Stryker) Passive / Semi-Active Robot (Surgical guidance)Surgeon centric decision making based on the surgical planImprove outcome
Radio-Surgery Robot Radiation Treatment SystemsoSeveral products from Varian, Elekta, Treatment planning system based on CT & MRI imagesMultiple treatmentsRadio-SurgeryooooGammaKnife (Elekta) Single treatment for cranial tumors Few treatments Few treatmentSelf-shielded Few treatmentMR-Linac, targeting based on real time MR imagesCyberKnife (Accuray)Zap-X (Zap Surgical)Unity (Elekta)CBCT1.5T MRQuantitative 1.5T MR
Soft Tissue RobotDa VinciMonarch“flexible robotics”
Hard Tissue Robot: Before Surgery Patient Selection Selecting robotic surgery candidate 60 – 80% of cases Imaging CT / X-ray / US / MRI DICOM image Selecting imaging quality and coverage Surgical Planning Planning quickly & reproducibly Placing implant accurately Tool path avoiding critical structures
Hard Tissue Robot: During Surgery Registration of robot coordinate system with patient’s Matching surgical plan with patient anatomical structure Movement control (Navigation) Reducing relative motion Protecting critical structure Cut path avoiding critical structures Monitoring quality of incision / cutting Accuracy and reproducibility
Hard Tissue Robot: Validation Range of motion Managing quality of life Implant placement and alignment Placing implant accurately & reproducibly Infection management Preventing infection
Wish List Real-Time Visualization / Surgical Planning:oo Reproducibility & Precision:oo Reproducible surgical planDependable outcome: no surprisesNew Information:oo DICOM image to surgical plan: 45 min to under 2 minUpdating surgical plan: few secondsImproving knowledge base with new information.Real-time sensor inputManagement of Error:ooHow to identify singularity before it happens.How to learn from error
Thank you.In K. Mun, PhDe: imun@mroboticresearch.com,ikm1@aol.comc: 1 305-582-7221
o Robot / navigational tool to support a manual surgical approach o Surgical approach based on 2D images and/or video images o Decision making: Surgeon Centric Active: o Robot to support a pre -defined surgical plan o Surgical plan based on 2D/3D images o Decision making: Surgical plan centric under surgeon's supervision Intelligent:
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1. The robot waits five seconds before starting the program. 2. The robot barks like a dog. 3. The robot moves forward for 3 seconds at 80% power. 4. The robot stops and waits for you to press the touch sensor. 5. The robot moves backwards four tire rotations. 6. The robot moves forward and uses the touch sensor to hit an obstacle (youth can .
steered robot without explicit model of the robot dynamics. In this paper first, a detailed nonlinear dynamics model of the omni-directional robot is presented, in which both the motor dynamics and robot nonlinear motion dynamics are considered. Instead of combining the robot kinematics and dynamics together as in [6-8,14], the robot model is
In order to explore the effect of robot types and task types on people s perception of a robot, we executed a 3 (robot types: autonomous robot vs. telepresence robot vs. human) x 2 (task types: objective task vs. subjective task) mixed-participants experiment. Human condition in the robot types was the control variable in this experiment.
Department of Horticulture, Department of Biological Sciences, Virginia Water Resources Research Center, and Virginia Cooperative Extension, we were able to add 7 new faculty . Virginia Tech in 2010, and Ph.D. in Forestry from in Spring 2013. He Virginia Tech resides in rural West Virginia with his wife, two daughters, and many pets, where he
To charge, the Power button on the side of the robot must be in the ON position (I). The robot will beep when charging begins. NOTE: When manually placing the robot on the base, make sure the Charging Contacts on the bottom of the robot are touching the ones on the base and the robot
“robot” items) are dragged into the appropriate place. From Easy-C to the Robot The process by which we get our code to the robot is: 1) Turn off the robot and remove the VEXnet device 2) Plug the USB connector into the PC and the robot 3) Using Easy-C, write your program 4) Using Easy-C, get your “
API 653 Tank Inspection, Repair, Alteration and Reconstruction, 3rd 2005 American Petroleum Institute USA Current Inspection, repair, modification and reconstruction of tanks built edition incorporating addendum 1 to API 650 or API 12C and 2 4 . Standard Title Year Publishing body Country Status Primary focus BS EN 14015 Specification for the design and 2004 European Europe Current Design and .
