Implementation of safe human robot collaboration for ultrasound guided radiation therapy

This thesis shows that safe human-robot-interaction and Human Robot Collaboration is possible for Ultrasound (US) guided radiotherapy. Via the chosen methodology, all components (US, optical room monitoring and robot) could be linked and integrated and realized in a realistic clinical workflow. US guided radiotherapy offers a complement and alternative to existing image-guided therapy approaches. The real-time capability of US and high soft tissue contrast allow target structures to be tracked and radiation delivery to be modulated. However, Ultrasound guided radiation therapy (USgRT) is not yet clinically established but is still under development, as reliable and safe methods of image acquisition are not yet available. In particular, the loss of contact of the US probe to the patient surface poses a problem for patient movements such as breathing. For this purpose, a Breathing and motion compensation (BaMC) was developed in this work, which together with the safe control of a lightweight robot represents a new development for USgRT. The developed BaMC can be used to control the US probe with contact to the patient. The conducted experiments have confirmed that a steady contact with the patient surface and thus a continuous image acquisition can be ensured by the developed methodology. In addition, the image position in space can be accurately maintained in the submillimeter range. The BaMC seamlessly integrates into a developed clinical workflow. The graphical user interfaces developed for this purpose, as well as direct haptic control with the robot, provide an easy interaction option for the clinical user. The developed autonomous positioning of the transducer represents a good example of the feasibility of the approach. With the help of the user interface, an acoustic plane can be defined and autonomously approached via the robot in a time-efficient and precise manner. The tests carried out show that this methodology is suitable for a wide range of transducer positions. Safety in a human-robot interaction task is essential and requires individually customized concepts. In this work, adequate monitoring mechanisms could be found to ensure both patient and staff safety. In collision tests it could be shown that the implemented detection measures work and that the robot moves into a safe parking position. The forces acting on the patient could thus be pushed well below the limits required by the standard. This work has demonstrated the first important steps towards safe robot-assisted ultrasound imaging, which is not only applicable to USgRT. The developed interfaces provide the basis for further investigations in this field, especially in the area of image recognition, for example to determine the position of the target structure. With the proof of safety of the developed system, first study in human can now follow

Augmented reality (AR) for surgical robotic and autonomous systems: State of the art, challenges, and solutions

Despite the substantial progress achieved in the development and integration of augmented reality (AR) in surgical robotic and autonomous systems (RAS), the center of focus in most devices remains on improving end-effector dexterity and precision, as well as improved access to minimally invasive surgeries. This paper aims to provide a systematic review of different types of state-of-the-art surgical robotic platforms while identifying areas for technological improvement. We associate specific control features, such as haptic feedback, sensory stimuli, and human-robot collaboration, with AR technology to perform complex surgical interventions for increased user perception of the augmented world. Current researchers in the field have, for long, faced innumerable issues with low accuracy in tool placement around complex trajectories, pose estimation, and difficulty in depth perception during two-dimensional medical imaging. A number of robots described in this review, such as Novarad and SpineAssist, are analyzed in terms of their hardware features, computer vision systems (such as deep learning algorithms), and the clinical relevance of the literature. We attempt to outline the shortcomings in current optimization algorithms for surgical robots (such as YOLO and LTSM) whilst providing mitigating solutions to internal tool-to-organ collision detection and image reconstruction. The accuracy of results in robot end-effector collisions and reduced occlusion remain promising within the scope of our research, validating the propositions made for the surgical clearance of ever-expanding AR technology in the future

Computer- and robot-assisted Medical Intervention

Medical robotics includes assistive devices used by the physician in order to make his/her diagnostic or therapeutic practices easier and more efficient. This chapter focuses on such systems. It introduces the general field of Computer-Assisted Medical Interventions, its aims, its different components and describes the place of robots in that context. The evolutions in terms of general design and control paradigms in the development of medical robots are presented and issues specific to that application domain are discussed. A view of existing systems, on-going developments and future trends is given. A case-study is detailed. Other types of robotic help in the medical environment (such as for assisting a handicapped person, for rehabilitation of a patient or for replacement of some damaged/suppressed limbs or organs) are out of the scope of this chapter.Comment: Handbook of Automation, Shimon Nof (Ed.) (2009) 000-00

Design of an embedded microcomputer based mini quadrotor UAV

This paper describes the design and realization of a mini quadrotor UAV (Unmanned Aerial Vehicle) that has been initiated in the Systems and Control Laboratory at the Computer and Automation Research institute of the Hungarian Academy of Science in collaboration with control departments of the Budapest University of Technology and Economics. The mini quadrotor UAV is intended to use in several areas such as camera-based air-surveillance, traffic control, environmental measurements, etc. The paper focuses upon the embedded microcomputer-based implementation of the mini UAV, describes the elements of the implementation, the tools realized for mathematical model building, as well as obtains a brief outline of the control design

Recent Advancements in Augmented Reality for Robotic Applications: A Survey

Robots are expanding from industrial applications to daily life, in areas such as medical robotics, rehabilitative robotics, social robotics, and mobile/aerial robotics systems. In recent years, augmented reality (AR) has been integrated into many robotic applications, including medical, industrial, human–robot interactions, and collaboration scenarios. In this work, AR for both medical and industrial robot applications is reviewed and summarized. For medical robot applications, we investigated the integration of AR in (1) preoperative and surgical task planning; (2) image-guided robotic surgery; (3) surgical training and simulation; and (4) telesurgery. AR for industrial scenarios is reviewed in (1) human–robot interactions and collaborations; (2) path planning and task allocation; (3) training and simulation; and (4) teleoperation control/assistance. In addition, the limitations and challenges are discussed. Overall, this article serves as a valuable resource for working in the field of AR and robotic research, offering insights into the recent state of the art and prospects for improvement