Adaptable Safe Path Planning Under Uncertainty Constraints

Path Planning in robotics is an open fundamental problem in fully autonomous or manipulator systems. Many standardized algorithms have been proposed taking a different aspect of the problem. Following a path generated by a path planner is not accurate because of sensor noise or malfunctioning, inaccuracy of control actions and commands and so on. This causes inaccuracy in the localization of the robot in the environment, which may lead to a collision if path planning is done assuming accurate motion. This uncertainty constraint induced during the mid-fight of the robot should be added with other design constraints so a collision-free path can be generated. As other constraints, this uncertainty constraint modifies the configuration space during mid-fight and since localization error can lead a configuration space to "bloat", this might lead to isolating the initial and goal configurations separated by critical regions. Fortunately, these constraints are not inherited by design and can be made flexible for planning a path by avoiding constraints wherever necessary. Therefore, this work focuses on maintaining two configuration spaces and provides an intelligent method to make the uncertainty constraints flexible by toggling between two spaces wherever necessary. The simulations considering design constraints of Computer Assisted Surgical Trainer (CAST) are presented as proof-of-concept which provides support to the objective of the thesis and demonstrates that the algorithm extends the functionality of a common path planning algorithm called Probabilistic Roadmap Planners, where by algorithm design it is proved that algorithm is adaptable to PRM in the worst case

Development and Validation of a Hybrid Virtual/Physical Nuss Procedure Surgical Trainer

With continuous advancements and adoption of minimally invasive surgery, proficiency with nontrivial surgical skills involved is becoming a greater concern. Consequently, the use of surgical simulation has been increasingly embraced by many for training and skill transfer purposes. Some systems utilize haptic feedback within a high-fidelity anatomically-correct virtual environment whereas others use manikins, synthetic components, or box trainers to mimic primary components of a corresponding procedure. Surgical simulation development for some minimally invasive procedures is still, however, suboptimal or otherwise embryonic. This is true for the Nuss procedure, which is a minimally invasive surgery for correcting pectus excavatum (PE) – a congenital chest wall deformity. This work aims to address this gap by exploring the challenges of developing both a purely virtual and a purely physical simulation platform of the Nuss procedure and their implications in a training context. This work then describes the development of a hybrid mixed-reality system that integrates virtual and physical constituents as well as an augmentation of the haptic interface, to carry out a reproduction of the primary steps of the Nuss procedure and satisfy clinically relevant prerequisites for its training platform. Furthermore, this work carries out a user study to investigate the system’s face, content, and construct validity to establish its faithfulness as a training platform

Multi-robot cooperative platform : a task-oriented teleoperation paradigm

This thesis proposes the study and development of a teleoperation system based on multi-robot cooperation under the task oriented teleoperation paradigm: Multi-Robot Cooperative Paradigm, MRCP. In standard teleoperation, the operator uses the master devices to control the remote slave robot arms. These arms reproduce the desired movements and perform the task. With the developed work, the operator can virtually manipulate an object. MRCP automatically generates the arms orders to perform the task. The operator does not have to solve situations arising from possible restrictions that the slave arms may have. The research carried out is therefore aimed at improving the accuracy teleoperation tasks in complex environments, particularly in the field of robot assisted minimally invasive surgery. This field requires patient safety and the workspace entails many restrictions to teleoperation. MRCP can be defined as a platform composed of several robots that cooperate automatically to perform a teleoperated task, creating a robotic system with increased capacity (workspace volume, accessibility, dexterity ...). The cooperation is based on transferring the task between robots when necessary to enable a smooth task execution. The MRCP control evaluates the suitability of each robot to continue with the ongoing task and the optimal time to execute a task transfer between the current selected robot and the best candidate to continue with the task. From the operator¿s point of view, MRCP provides an interface that enables the teleoperation though the task-oriented paradigm: operator orders are translated into task actions instead of robot orders. This thesis is structured as follows: The first part is dedicated to review the current solutions in the teleoperation of complex tasks and compare them with those proposed in this research. The second part of the thesis presents and reviews in depth the different evaluation criteria to determine the suitability of each robot to continue with the execution of a task, considering the configuration of the robots and emphasizing the criterion of dexterity and manipulability. The study reviews the different required control algorithms to enable the task oriented telemanipulation. This proposed teleoperation paradigm is transparent to the operator. Then, the Thesis presents and analyses several experimental results using MRCP in the field of minimally invasive surgery. These experiments study the effectiveness of MRCP in various tasks requiring the cooperation of two hands. A type task is used: a suture using minimally invasive surgery technique. The analysis is done in terms of execution time, economy of movement, quality and patient safety (potential damage produced by undesired interaction between the tools and the vital tissues of the patient). The final part of the thesis proposes the implementation of different virtual aids and restrictions (guided teleoperation based on haptic visual and audio feedback, protection of restricted workspace regions, etc.) using the task oriented teleoperation paradigm. A framework is defined for implementing and applying a basic set of virtual aids and constraints within the framework of a virtual simulator for laparoscopic abdominal surgery. The set of experiments have allowed to validate the developed work. The study revealed the influence of virtual aids in the learning process of laparoscopic techniques. It has also demonstrated the improvement of learning curves, which paves the way for its implementation as a methodology for training new surgeons.Aquesta tesi doctoral proposa l'estudi i desenvolupament d'un sistema de teleoperació basat en la cooperació multi-robot sota el paradigma de la teleoperació orientada a tasca: Multi-Robot Cooperative Paradigm, MRCP. En la teleoperació clàssica, l'operador utilitza els telecomandaments perquè els braços robots reprodueixin els seus moviments i es realitzi la tasca desitjada. Amb el treball realitzat, l'operador pot manipular virtualment un objecte i és mitjançant el MRCP que s'adjudica a cada braç les ordres necessàries per realitzar la tasca, sense que l'operador hagi de resoldre les situacions derivades de possibles restriccions que puguin tenir els braços executors. La recerca desenvolupada està doncs orientada a millorar la teleoperació en tasques de precisió en entorns complexos i, en particular, en el camp de la cirurgia mínimament invasiva assistida per robots. Aquest camp imposa condicions de seguretat del pacient i l'espai de treball comporta moltes restriccions a la teleoperació. MRCP es pot definir com a una plataforma formada per diversos robots que cooperen de forma automàtica per dur a terme una tasca teleoperada, generant un sistema robòtic amb capacitats augmentades (volums de treball, accessibilitat, destresa,...). La cooperació es basa en transferir la tasca entre robots a partir de determinar quin és aquell que és més adequat per continuar amb la seva execució i el moment òptim per realitzar la transferència de la tasca entre el robot actiu i el millor candidat a continuar-la. Des del punt de vista de l'operari, MRCP ofereix una interfície de teleoperació que permet la realització de la teleoperació mitjançant el paradigma d'ordres orientades a la tasca: les ordres es tradueixen en accions sobre la tasca en comptes d'estar dirigides als robots. Aquesta tesi està estructurada de la següent manera: Primerament es fa una revisió de l'estat actual de les diverses solucions desenvolupades actualment en el camp de la teleoperació de tasques complexes, comparant-les amb les proposades en aquest treball de recerca. En el segon bloc de la tesi es presenten i s'analitzen a fons els diversos criteris per determinar la capacitat de cada robot per continuar l'execució d'una tasca, segons la configuració del conjunt de robots i fent especial èmfasi en el criteri de destresa i manipulabilitat. Seguint aquest estudi, es presenten els diferents processos de control emprats per tal d'assolir la telemanipulació orientada a tasca de forma transparent a l'operari. Seguidament es presenten diversos resultats experimentals aplicant MRCP al camp de la cirurgia mínimament invasiva. En aquests experiments s'estudia l'eficàcia de MRCP en diverses tasques que requereixen de la cooperació de dues mans. S'ha escollit una tasca tipus: sutura amb tècnica de cirurgia mínimament invasiva. L'anàlisi es fa en termes de temps d'execució, economia de moviment, qualitat i seguretat del pacient (potencials danys causats per la interacció no desitjada entre les eines i els teixits vitals del pacient). Finalment s'ha estudiat l'ús de diferents ajudes i restriccions virtuals (guiat de la teleoperació via retorn hàptic, visual o auditiu, protecció de regions de l'espai de treball, etc) dins el paradigma de teleoperació orientada a tasca. S'ha definint un marc d'aplicació base i implementant un conjunt de restriccions virtuals dins el marc d'un simulador de cirurgia laparoscòpia abdominal. El conjunt d'experiments realitzats han permès validar el treball realitzat. Aquest estudi ha permès determinar la influencia de les ajudes virtuals en el procés d'aprenentatge de les tècniques laparoscòpiques. S'ha evidenciat una millora en les corbes d'aprenentatge i obre el camí a la seva implantació com a metodologia d'entrenament de nous cirurgians.Postprint (published version

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not

Three Major Employers in SW Florida: Identification of Critical Position/Skill Gaps

Workforce Now is a regional research initiative to identify current and future talent requirements for the five counties of Southwest Florida. The initiative was created in October 2012 as an outcome of the Education Summits produced by The News-Press Media Group. It is envisioned as a systematic, strategic multi-year focus on understanding and meeting critical workforce needs.Preface----------------------------------------------------------------------------------- 2 Executive Summary------------------------------------------------------------------- 5 Methodology---------------------------------------------------------------------------- 13 Study Findings – Arthrex, Inc. ------------------------------------------------------ 15 Study Findings – Chico’s FAS, Inc.------------------------------------------------- 24 Study Findings – Lee Memorial Health System---------------------------------- 36 Summary-------------------------------------------------------------------------------- 45 Appendix A: Interview Guide ------------------------------------------------------- 46 Appendix B: Detailed Position descriptions ------------------------------------- 4

Redesigning the human-robot interface : intuitive teleoperation of anthropomorphic robots

textA novel interface for robotic teleoperation was developed to enable accurate and highly efficient teleoperation of the Industrial Reconfigurable Anthropomorphic Dual-arm (IRAD) system and other robotic systems. In order to achieve a revolutionary increase in operator productivity, the bilateral/master-slave approach must give way to shared autonomy and unilateral control; autonomy must be employed where possible, and appropriate sensory feedback only where autonomy is impossible; and today’s low-information/high feedback model must be replaced by one that emphasizes feedforward precision and minimal corrective feedback. This is emphasized for task spaces outside of the traditional anthropomorphic scale such as mobile manipulation (i.e. large task spaces) and high precision tasks (i.e. very small task spaces). The system is demonstrated using an anthropomorphically dimensioned industrial manipulator working in task spaces from one meter to less than one millimeter, in both simulation and hardware. This thesis discusses the design requirements and philosophy of this interface, provides a summary of prototype teleoperation hardware, simulation environment, test-bed hardware, and experimental results.Mechanical Engineerin

Augmented Reality Navigation Interfaces Improve Human Performance In End-Effector Controlled Telerobotics

On the International Space Station (ISS) and space shuttles, the National Aeronautics and Space Administration (NASA) has used robotic manipulators extensively to perform payload handling and maintenance tasks. Teleoperating robots require expert skills and optimal performance is crucial to mission completion and crew safety. Degradation in performance is observed when manual control is mediated through remote camera views, resulting in poor end-effector navigation quality and extended task completion times. This thesis explores the application of three-dimensional augmented reality (AR) interfaces specifically designed to improve human performance during end-effector controlled teleoperations. A modular telerobotic test bed was developed for this purpose and several experiments were conducted. In the first experiment, the effect of camera placement on end-effector manipulation performance was evaluated. Results show that increasing misalignment between the displayed end-effector and hand-controller axes (display-control misalignments) increases the time required to process a movement input. Simple AR movement cues were found to mitigate the adverse effects of camera-based teleoperation and made performance invariant to misalignment. Applying these movement cues to payload transport tasks correspondingly demonstrated improvements in free-space navigation quality over conventional end-effector control using multiple cameras. Collision-free teleoperations are also a critical requirement in space. To help the operators guide robots safely, a novel method was evaluated. Navigation plans computed by a planning agent are presented to the operator sequentially through an AR interface. The plans in combination with the interface allow the operator to guide the end-effector through collision-free regions in the remote environment safely. Experimental results show significant benefits in control performance including reduced path deviation and travel distance. Overall, the results show that AR interfaces can improve performance during manual control of remote robots and have tremendous potential in current and future teleoperated space robotic systems; as well as in contemporary military and surgical applications

Closed-Loop Planning and Control of Steerable Medical Needles

Steerable needles have the potential to increase the effectiveness of needle-based clinical procedures such as biopsy, drug delivery, and radioactive seed implantation for cancer treatment. These needles can trace curved paths when inserted into tissue, thereby increasing maneuverability and targeting accuracy while reaching previously inaccessible targets that are behind sensitive or impenetrable anatomical regions. Guiding these flexible needles along an intended path requires continuously inserting and twisting the needle at its base, which is not intuitive for a human operator. In addition, the needle often deviates from its intended trajectory due to factors such as tissue deformation, needle-tissue interaction, noisy actuation and sensing, modeling errors, and involuntary patient motions. These challenges can be addressed with the assistance of robotic systems that automatically compensate for these perturbations by performing motion planning and feedback control of the needle in a closed-loop fashion under sensory feedback. We present two approaches for efficient closed-loop guidance of steerable needles to targets within clinically acceptable accuracy while safely avoiding sensitive or impenetrable anatomical structures. The first approach uses a fast motion planning algorithm that unifies planning and control by continuously replanning, enabling correction for perturbations as they occur. We evaluate our method using a needle steering system in phantom and ex vivo animal tissues. The second approach integrates motion planning and feedback control of steerable needles in highly deformable environments. We demonstrate that this approach significantly improves the probability of success compared to prior approaches that either consider uncertainty or deformations but not both simultaneously. We also propose a data-driven method to estimate parameters of stochastic models of steerable needle motion. These models can be used to create realistic medical simulators for clinicians wanting to train for steerable needle procedures and to improve the effectiveness of existing planning and control methods. This dissertation advances the state of the art in planning and control of steerable needles and is an important step towards realizing needle steering in clinical practice. The methods developed in this dissertation also generalize to important applications beyond medical needle steering, such as manipulating deformable objects and control of mobile robots.Doctor of Philosoph