Automatic extraction of robotic surgery actions from text and kinematic data

The latest generation of robotic systems is becoming increasingly autonomous due to technological advancements and artificial intelligence. The medical field, particularly surgery, is also interested in these technologies because automation would benefit surgeons and patients. While the research community is active in this direction, commercial surgical robots do not currently operate autonomously due to the risks involved in dealing with human patients: it is still considered safer to rely on human surgeons' intelligence for decision-making issues. This means that robots must possess human-like intelligence, including various reasoning capabilities and extensive knowledge, to become more autonomous and credible. As demonstrated by current research in the field, indeed, one of the most critical aspects in developing autonomous systems is the acquisition and management of knowledge. In particular, a surgical robot must base its actions on solid procedural surgical knowledge to operate autonomously, safely, and expertly. This thesis investigates different possibilities for automatically extracting and managing knowledge from text and kinematic data. In the first part, we investigated the possibility of extracting procedural surgical knowledge from real intervention descriptions available in textbooks and academic papers on the robotic-surgical domains, by exploiting Transformer-based pre-trained language models. In particular, we released SurgicBERTa, a RoBERTa-based pre-trained language model for surgical literature understanding. It has been used to detect procedural sentences in books and extract procedural elements from them. Then, with some use cases, we explored the possibilities of translating written instructions into logical rules usable for robotic planning. Since not all the knowledge required for automatizing a procedure is written in texts, we introduce the concept of surgical commonsense, showing how it relates to different autonomy levels. In the second part of the thesis, we analyzed surgical procedures from a lower granularity level, showing how each surgical gesture is associated with a given combination of kinematic data

Florida Technological University: Course Descriptions, Bulletin Supplement, Fall 1971

Fall 1971 Course Descriptions. This booklet supersedes the listing shown in the July 1971 Bulletin

Learning Opportunities 2024/2025

The graduation requirements of the Illinois Mathematics and Science Academy are established by the IMSA Board of Trustees. Each semester students must take a minimum of five academic courses (2.5 credits) for a letter grade (not Pass/Fail) not including Fine Arts, Wellness, SIR, Internship, and Independent Study. Students may enroll in a maximum of eight courses each semester including academic courses, Fine Arts, Wellness, SIR, Internship, and Independent Study. The College and Academic Counselor approves enrollment for students in all courses and experiences. Only courses taken for a letter grade will count toward graduation credit

Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas

The main interest of this thesis consists of the study and implementation of postprocessors to adapt the toolpath generated by a Computer Aided Manufacturing (CAM) system to a complex robotic workcell of eight joints, devoted to the rapid prototyping of 3D CAD-defined products. It consists of a 6R industrial manipulator mounted on a linear track and synchronized with a rotary table. To accomplish this main objective, previous work is required. Each task carried out entails a methodology, objective and partial results that complement each other, namely: - It is described the architecture of the workcell in depth, at both displacement and joint-rate levels, for both direct and inverse resolutions. The conditioning of the Jacobian matrix is described as kinetostatic performance index to evaluate the vicinity to singular postures. These ones are analysed from a geometric point of view. - Prior to any machining, the additional external joints require a calibration done in situ, usually in an industrial environment. A novel Non-contact Planar Constraint Calibration method is developed to estimate the external joints configuration parameters by means of a laser displacement sensor. - A first control is originally done by means of a fuzzy inference engine at the displacement level, which is integrated within the postprocessor of the CAM software. - Several Redundancy Resolution Schemes (RRS) at the joint-rate level are compared for the configuration of the postprocessor, dealing not only with the additional joints (intrinsic redundancy) but also with the redundancy due to the symmetry on the milling tool (functional redundancy). - The use of these schemes is optimized by adjusting two performance criterion vectors related to both singularity avoidance and maintenance of a preferred reference posture, as secondary tasks to be done during the path tracking. Two innovative fuzzy inference engines actively adjust the weight of each joint in these tasks.Andrés De La Esperanza, FJ. (2011). Postprocesamiento CAM-ROBOTICA orientado al prototipado y mecanizado en células robotizadas complejas [Tesis doctoral no publicada]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/10627Palanci

Design and Development of an Automated Mobile Manipulator for Industrial Applications

This thesis presents the modeling, control and coordination of an automated mobile manipulator. A mobile manipulator in this investigation consists of a robotic manipulator and a mobile platform resulting in a hybrid mechanism that includes a mobile platform for locomotion and a manipulator arm for manipulation. The structural complexity of a mobile manipulator is the main challenging issue because it includes several problems like adapting a manipulator and a redundancy mobile platform at non-holonomic constraints. The objective of the thesis is to fabricate an automated mobile manipulator and develop control algorithms that effectively coordinate the arm manipulation and mobility of mobile platform. The research work starts with deriving the motion equations of mobile manipulators. The derivation introduced here makes use of motion equations of robot manipulators and mobile platforms separately, and then integrated them as one entity. The kinematic analysis is performed in two ways namely forward & inverse kinematics. The motion analysis is performed for various WMPs such as, Omnidirectional WMP, Differential three WMP, Three wheeled omni-steer WMP, Tricycle WMP and Two steer WMP. From the obtained motion analysis results, Differential three WMP is chosen as the mobile platform for the developed mobile manipulator. Later motion analysis is carried out for 4-axis articulated arm. Danvit-Hartenberg representation is implemented to perform forward kinematic analysis. Because of this representation, one can easily understand the kinematic equation for a robotic arm. From the obtained arm equation, Inverse kinematic model for the 4-axis robotic manipulator is developed. Motion planning of an intelligent mobile robot is one of the most vital issues in the field of robotics, which includes the generation of optimal collision free trajectories within its work space and finally reaches its target position. For solving this problem, two evolutionary algorithms namely Particle Swarm Optimization (PSO) and Artificial Immune System (AIS) are introduced to move the mobile platform in intelligent manner. The developed algorithms are effective in avoiding obstacles, trap situations and generating optimal paths within its unknown environments. Once the robot reaches its goal (within the work space of the manipulator), the manipulator will generate its trajectories according to task assigned by the user. Simulation analyses are performed using MATLAB-2010 in order to validate the feasibility of the developed methodologies in various unknown environments. Additionally, experiments are carried out on an automated mobile manipulator. ATmega16 Microcontrollers are used to enable the entire robot system movement in desired trajectories by means of robot interface application program. The control program is developed in robot software (Keil) to control the mobile manipulator servomotors via a serial connection through a personal computer. To support the proposed control algorithms both simulation and experimental results are presented. Moreover, validation of the developed methodologies has been made with the ER-400 mobile platform

Calendar 2020-2021: Course Guide

The Academic Calendar includes the Academic Schedule, Admission Requirements and Fees, Course Descriptions, and other training opportunities. The web version is now the official Academic Calendar of Red Deer College.Universities and colleges--Alberta.Universities and colleges--Curricula--Catalogs