Robot Assisted Object Manipulation for Minimally Invasive Surgery

Robotic systems have an increasingly important role in facilitating minimally invasive surgical treatments. In robot-assisted minimally invasive surgery, surgeons remotely control instruments from a console to perform operations inside the patient. However, despite the advanced technological status of surgical robots, fully autonomous systems, with decision-making capabilities, are not yet available. In 2017, a structure to classify the research efforts toward autonomy achievable with surgical robots was proposed by Yang et al. Six different levels were identified: no autonomy, robot assistance, task autonomy, conditional autonomy, high autonomy, and full autonomy. All the commercially available platforms in robot-assisted surgery is still in level 0 (no autonomy). Despite increasing the level of autonomy remains an open challenge, its adoption could potentially introduce multiple benefits, such as decreasing surgeons’ workload and fatigue and pursuing a consistent quality of procedures. Ultimately, allowing the surgeons to interpret the ample and intelligent information from the system will enhance the surgical outcome and positively reflect both on patients and society. Three main aspects are required to introduce automation into surgery: the surgical robot must move with high precision, have motion planning capabilities and understand the surgical scene. Besides these main factors, depending on the type of surgery, there could be other aspects that might play a fundamental role, to name some compliance, stiffness, etc. This thesis addresses three technological challenges encountered when trying to achieve the aforementioned goals, in the specific case of robot-object interaction. First, how to overcome the inaccuracy of cable-driven systems when executing fine and precise movements. Second, planning different tasks in dynamically changing environments. Lastly, how the understanding of a surgical scene can be used to solve more than one manipulation task. To address the first challenge, a control scheme relying on accurate calibration is implemented to execute the pick-up of a surgical needle. Regarding the planning of surgical tasks, two approaches are explored: one is learning from demonstration to pick and place a surgical object, and the second is using a gradient-based approach to trigger a smoother object repositioning phase during intraoperative procedures. Finally, to improve scene understanding, this thesis focuses on developing a simulation environment where multiple tasks can be learned based on the surgical scene and then transferred to the real robot. Experiments proved that automation of the pick and place task of different surgical objects is possible. The robot was successfully able to autonomously pick up a suturing needle, position a surgical device for intraoperative ultrasound scanning and manipulate soft tissue for intraoperative organ retraction. Despite automation of surgical subtasks has been demonstrated in this work, several challenges remain open, such as the capabilities of the generated algorithm to generalise over different environment conditions and different patients

Clinical implementation of a 3D4K-exoscope (Orbeye) in microneurosurgery

Exoscopic surgery promises alleviation of physical strain, improved intraoperative visualization and facilitation of the clinical workflow. In this prospective observational study, we investigate the clinical usability of a novel 3D4K-exoscope in routine neurosurgical interventions. Questionnaires on the use of the exoscope were carried out. Exemplary cases were additionally video-documented. All participating neurosurgeons (n = 10) received initial device training. Changing to a conventional microscope was possible at all times. A linear mixed model was used to analyse the impact of time on the switchover rate. For further analysis, we dichotomized the surgeons in a frequent (n = 1) and an infrequent (n = 9) user group. A one-sample Wilcoxon signed rank test was used to evaluate, if the number of surgeries differed between the two groups. Thirty-nine operations were included. No intraoperative complications occurred. In 69.2% of the procedures, the surgeon switched to the conventional microscope. While during the first half of the study the conversion rate was 90%, it decreased to 52.6% in the second half (p = 0.003). The number of interventions between the frequent and the infrequent user group differed significantly (p = 0.007). Main reasons for switching to ocular-based surgery were impaired hand-eye coordination and poor depth perception. The exoscope investigated in this study can be easily integrated in established neurosurgical workflows. Surgical ergonomics improved compared to standard microsurgical setups. Excellent image quality and precise control of the camera added to overall user satisfaction. For experienced surgeons, the incentive to switch from ocular-based to exoscopic surgery greatly varies

Development of a Whole-body Work Imitation Learning System by a Biped and Bi-armed Humanoid

Imitation learning has been actively studied in recent years. In particular, skill acquisition by a robot with a fixed body, whose root link position and posture and camera angle of view do not change, has been realized in many cases. On the other hand, imitation of the behavior of robots with floating links, such as humanoid robots, is still a difficult task. In this study, we develop an imitation learning system using a biped robot with a floating link. There are two main problems in developing such a system. The first is a teleoperation device for humanoids, and the second is a control system that can withstand heavy workloads and long-term data collection. For the first point, we use the whole body control device TABLIS. It can control not only the arms but also the legs and can perform bilateral control with the robot. By connecting this TABLIS with the high-power humanoid robot JAXON, we construct a control system for imitation learning. For the second point, we will build a system that can collect long-term data based on posture optimization, and can simultaneously move the robot's limbs. We combine high-cycle posture generation with posture optimization methods, including whole-body joint torque minimization and contact force optimization. We designed an integrated system with the above two features to achieve various tasks through imitation learning. Finally, we demonstrate the effectiveness of this system by experiments of manipulating flexible fabrics such that not only the hands but also the head and waist move simultaneously, manipulating objects using legs characteristic of humanoids, and lifting heavy objects that require large forces.Comment: accepted at IROS202

Quadrupedal movement training improves markers of cognition and joint repositioning

Introduction - Exercise, and in particular balance and coordination related activities such as dance, appear to have positive effects on cognitive function, as well as neurodegenerative conditions such as dementia and Parkinson’s disease. Quadrupedal gait training is a movement system requiring coordination of all four limbs that has previously been associated with cognitive development in children. There is currently little research into the effect of complex QDP movements on cognitive function in adults. Purpose - To determine the effects of a novel four-week quadrupedal gait training programme on markers of cognitive function and joint reposition sense in healthy adults. Methods - Twenty-two physically active sports science students (15 male and 7 female) were divided into two groups: a training group (TG) and a control group (CG). All participants completed the Wisconsin Card Sorting Task (WCST) and were tested for joint reposition sense before and after a four-week intervention, during which time the TG completed a series of progressive and challenging quadrupedal movement training sessions. Results - Participants in the TG showed significant improvements in the WCST, with improvements in perseverative errors, non-perseverative errors, and conceptual level response. This improvement was not found in the CG. Joint reposition sense also improved for the TG, but only at 20 degrees of shoulder flexion. Conclusions - Performance of a novel, progressive, and challenging task, requiring the coordination of all 4 limbs, has a beneficial impact on cognitive flexibility, and in joint reposition sense, although only at the specific joint angle directly targeted by the training. The findings are consistent with other studies showing improvements in executive function and joint reposition sense following physical activity

Intelligent Haptic Perception for Physical Robot Interaction

Doctorado en Ingeniería mecatrónica. Fecha de entrega de la Tesis doctoral: 8 de enero de 2020. Fecha de lectura de Tesis doctoral: 30 de marzo 2020.The dream of having robots living among us is coming true thanks to the recent advances in Artificial Intelligence (AI). The gap that still exists between that dream and reality will be filled by scientific research, but manifold challenges are yet to be addressed. Handling the complexity and uncertainty of real-world scenarios is still the major challenge in robotics nowadays. In this respect, novel AI methods are giving the robots the capability to learn from experience and therefore to cope with real-life situations. Moreover, we live in a physical world in which physical interactions are both vital and natural. Thus, those robots that are being developed to live among humans must perform tasks that require physical interactions. Haptic perception, conceived as the idea of feeling and processing tactile and kinesthetic sensations, is essential for making this physical interaction possible. This research is inspired by the dream of having robots among us, and therefore, addresses the challenge of developing robots with haptic perception capabilities that can operate in real-world scenarios. This PhD thesis tackles the problems related to physical robot interaction by employing machine learning techniques. Three AI solutions are proposed for different physical robot interaction challenges: i) Grasping and manipulation of humans’ limbs; ii) Tactile object recognition; iii) Control of Variable-Stiffness-Link (VSL) manipulators. The ideas behind this research work have potential robotic applications such as search and rescue, healthcare or rehabilitation. This dissertation consists of a compendium of publications comprising as the main body a compilation of previously published scientific articles. The baseline of this research is composed of a total of five papers published in prestigious peer-reviewed scientific journals and international robotics conferences

Towards Exoscope Automation in Neurosurgery: A Markerless Visual-Servoing Approach

Exoscopes are a promising tool for neurosurgeons, offering improved visualisation and ergonomics compared with traditional surgical microscopes. They consist of an external scope that projects the surgical field onto a 2D or 3D monitor, providing a wider field of view and better access to the surgical site. Despite the advantages, exoscopes present some limitations, such as the need for manual or foot joystick repositioning, which can disrupt the flow of the procedure and increase the risk of user error. In this study, a markerless visual-servoing approach for autonomous exoscope control is proposed to address these limitations and enhance the ergonomics and reduce the physical and cognitive load compared with traditional joystick control. The system uses visual information from the operating field to control the exoscope, eliminating the need for markers or additional tracking devices. The proposed approach was validated using a 7-DOF robotic manipulator with a stereo camera in an eyein-hand configuration. Results showed that the system achieved 89% accuracy in detecting the target and tracking its movement with a tracking error ranging from 0.50 +/- 0.17 cm for lowspeed movements to 1.38 +/- 0.73 cm for high-speed movements. The proposed system also demonstrated improved efficiency, with a shorter execution time of 72.07 +/- 19.36 s compared with 106.52 +/- 18.50 s for the foot-joystick control. Additionally, the time out of the FoV was significantly higher in the joystick control mode and the frequency of appearance of the instrument in the centre of the image was higher when using the proposed system. The NASA TLX results indicated lower physical and cognitive load compared with the joystick control-based modality

Spacecraft design project: Low Earth orbit communications satellite

This is the final product of the spacecraft design project completed to fulfill the academic requirements of the Spacecraft Design and Integration 2 course (AE-4871) taught at the U.S. Naval Postgraduate School. The Spacecraft Design and Integration 2 course is intended to provide students detailed design experience in selection and design of both satellite system and subsystem components, and their location and integration into a final spacecraft configuration. The design team pursued a design to support a Low Earth Orbiting (LEO) communications system (GLOBALSTAR) currently under development by the Loral Cellular Systems Corporation. Each of the 14 team members was assigned both primary and secondary duties in program management or system design. Hardware selection, spacecraft component design, analysis, and integration were accomplished within the constraints imposed by the 11 week academic schedule and the available design facilities

Restructuring teacher education, the national interest and globalisation

This paper argues that the repositioning of Asian countries as new \u27centres\u27 for world trade and commerce and the transformation of Australian society and economy to accord with this global consolidation, includes a general restructuring of all levels of Australia\u27s \u27education industry\u27 and specifically the (re)forming of its initial teacher and professional-education programmes. The need for such reformation arises in part from the restructuring of the work of teaching based on a broader definition of the people and educational settings that are involved in the teaching/learning process, a reworking of this teaching/learning process, the higher status given to certain substantive areas of study, such as languages other than English, and the management of education along corporatist lines. This paper suggests further that teacher-education programmes should also provide students with the resources to critically analyse these changes, giving consideration to issues such as identity, the impact of new technologies on culture and learning, the use of language in promoting particular discourses, and the repositioning of education as a tool for economic reform