Accelerating Surgical Robotics Research: A Review of 10 Years With the da Vinci Research Kit

Robotic-assisted surgery is now well-established in clinical practice and has become the gold standard clinical treatment option for several clinical indications. The field of robotic-assisted surgery is expected to grow substantially in the next decade with a range of new robotic devices emerging to address unmet clinical needs across different specialities. A vibrant surgical robotics research community is pivotal for conceptualizing such new systems as well as for developing and training the engineers and scientists to translate them into practice. The da Vinci Research Kit (dVRK), an academic and industry collaborative effort to re-purpose decommissioned da Vinci surgical systems (Intuitive Surgical Inc, CA, USA) as a research platform for surgical robotics research, has been a key initiative for addressing a barrier to entry for new research groups in surgical robotics. In this paper, we present an extensive review of the publications that have been facilitated by the dVRK over the past decade. We classify research efforts into different categories and outline some of the major challenges and needs for the robotics community to maintain this initiative and build upon it

Recent developments in fibre optic shape sensing

This paper presents a comprehensive critical review of technologies used in the development of fibre optic shape sensors (FOSSs). Their operation is based on multi-dimensional bend measurements using a series of fibre optic sensors. Optical fibre sensors have experienced tremendous growth from simple bend sensors in 1980s to full three-dimensional FOSSs using multicore fibres in recent years. Following a short review of conventional contact-based shape sensor technologies, the evolution trend and sensing principles of FOSSs are presented. This paper identifies the major optical fibre technologies used for shape sensing and provides an account of the challenges and emerging applications of FOSSs in various industries such as medical robotics, industrial robotics, aerospace and mining industry

Brain Computer Interfaces: Challenges to Clinical Viability Addressed in the Laboratory

Paralysis following spinal cord injuries, amyotrophic lateral sclerosis, stroke, and other disorders can intervene with signal transduction from the brain to the motor periphery, and eliminate the ability to perform volitional movements. Brain computer interfaces (BCI) directly measure brain activity associated with the user’s intent and translate the recorded brain activity into control signals for BCI applications, such as moving a computer cursor or a robot arm. While BCI technology has become an active and exciting field of research, much of the field’s development and achievements to date have taken place in the laboratory. The translation of BCI technology to the clinical setting is still not a reality. My thesis research has been dedicated to the objective of facilitating the translation of BCI systems from the primate lab to a clinical setting. That guiding objective has led me to work on several projects including: a technique that vastly improves the longevity of surgical implants in primate studies; a task that pushes the limits of sensorimotor performance – improving our knowledge of the function of primary motor cortex during realistic reaches and allowing us to quantify feedback effectiveness; characterizing the long-term tissue response to chronically implanted electrodes, and investigating how to optimally select parameters for neural information extraction. Each of these contributions will help bring BCI systems one step closer to clinical reality

Oil Rig Trainees’ Perspectives on the Influence of Drilling Simulation on Their Learning and Motivation

Low enrollment levels in vocational drilling training programs in the Arabian Gulf area have resulted in a talent gap, with little success in building and retaining national crews. With current simulation technology, it is believed that trainees\u27 learning, motivation, and achievements will increase; however, further study is needed to determine if these conclusions hold. The purpose of this basic qualitative study was to explore how using simulation technologies influences trainees\u27 learning, motivation, and perspectives about completing their education at an oil-field drilling rig’s vocational training facility. Davis’s technology acceptance model concerning user reception of information systems formed the conceptual framework. Semi structured virtual interviews were conducted with 10 purposely sampled drilling crew trainees. Data were transcribed, and manual descriptive coding was used to identify five themes that addressed the research questions. The first three themes reflected the ease and usefulness of teaching drilling application skills using the simulator technology. The other two themes applied to how using the drilling simulator motivated the trainees and made them eager to complete their studies. The study’s findings showed that drilling simulators are an effective teaching tool, creating an easy-to-operate, hands-on-the-job training environment and increasing overall competencies. Results from the study could inform drilling contractor training facilities’ leaders about the importance of increasing drilling simulation practices covering all possible drilling job activities. The use of drilling simulations could promote positive social change at the trainee level, the country’s drilling rig workforce level, and the regional level through better learning and understanding of drilling processes

Model-based operator guidance in interactive, semi-automated production processes

This contribution focuses on the task of guiding and supervision of technical processes realized by human operators. The review of publications of the last decades discloses that especially technical processes with strong interconnection of human operator and manufacturing process are not adequately addressed by the evolved automation approaches. Integrating human process knowledge and experience into the resulting automation system is still a major concern. Besides the introduction of automation in a handcrafting process that is increasing the overall system complexity, the design of the human-machine interface to the automation system is of central importance. Within this thesis, the trade-off between manual manufacturing and automation is addressed by a semi-automation approach. The application example is the no-bake molding process, a mold manufacturing process for casts that is traditionally handmade. Within this process the human operator plays a central role (i.e. knowledge and expertise), whereas the (intelligent) automation is carrying out physical operation, which is guided and supervised by the human operator. This is achieved by experimentally identified quality representing process variables that allow for in-process feedback to the human operator. Process guiding assistance is given using a formalization approach of the human-automation-interaction. By deducing situative information of interest from the resulting human-automation-system model with respect to the current process goal, the established process model is used for supervision and assistance of the overall process. The design of the human-machine-interface is based on a detailed analysis of the handcrafted process and is realized as a direct, intuitively usable, marker-based interaction technique. The integrated human-automation-system and the corresponding human-machine-interface with process guidance assistance functionality is initially evaluated. The results are discussed for the future work with respect to the individual, human operator-specific process understanding and process reproducibility.Diese Arbeit befasst sich mit Fachkraftaufgaben in der Führung und Überwachung von technischen Prozessen. Die Übersicht der Publikationen der letzten Jahrzehnte eröffnet, dass insbesondere technische Prozesse mit enger Verknüpfung von Mensch und Herstellungsprozess bei den entwickelten Automatisierungsansätzen nicht hinreichend berücksichtigt werden. Die Integration von Prozesswissen und -erfahrung in das resultierende Automatisierungssystem bleibt eine offene Fragestellung. Neben der Einführung von Automation in Handarbeitsprozesse, die die Komplexität des Gesamtsystems erhöhen, ist die Gestaltung der Mensch-Maschine-Schnittstelle zum Automatisierungssystem von zentraler Bedeutung. Der Konflikt zwischen Handarbeit und Automatisierung wird in dieser Arbeit durch die Einführung einer Teilautomatisierung gelöst. Das Anwendungsbeispiel ist das Kaltharzverfahren, ein traditionell in Handarbeit bewältigter Herstellungsprozess für Gussformen. In diesem Prozess spielt die Fachkraft eine zentrale Rolle (z. B. durch ihr Prozesswissen und ihre Expertise), während die (intelligente) Automatisierung –geführt und überwacht durch die Fachkraft– anfallende physische Aktionen ausführt. Dies wird durch experimentell ermit- telte qualitäts-beschreibende Prozessgrößen erreicht, die eine in-prozess Rückführung zum Bedienpersonal ermöglichen. Prozessführungsassistenz ist basierend auf die Formalisierung der Mensch-Automation-Interaktion gegeben. Durch die Bestimmung von situativen Informationen hoher Wichtigkeit aus dem resultierenden Mensch-Automation-System Modell bezogen auf das aktuelle Prozessziel, wird das bestehende Prozessmodell zur Überwachung und Prozessführungsassistenz des Gesamtprozesses genutzt. Die Gestaltung der Mensch-Maschine-Schnittstelle basiert auf einer detaillierten Analyse des Handarbeitsprozesses und ist als direkte, intuitiv bedienbare, markerbasierte Interaktionstechnik realisiert. Das integrierte Mensch-Automation-System sowie die zugehörige Mensch-Maschine-Schnittstelle inklusive Prozessführungsassistenzfunktionen wurden initial evaluiert. Die erzielten Ergebnisse werden hinsichtlich des individuellen, fachkraftabhängigen Prozesswissens und der Reproduzierbarkeit für den Ausblick diskutiert

An evaluation framework for virtual reality safety training systems in the South African Mining Industry

The mining industry in South Africa contributes significantly to the national economy. Despite stringent safety legislation, mining accidents cause numerous fatalities and injuries. Inadequate or insufficient training is often cited as a root cause of accidents. Conventional class-based safety training has not reduced the incidence of accidents significantly. By contrast, virtual reality training tools can provide simulated exposure to real-world working conditions without the associated risks. This study describes the application of design-based research (DBR) in the design and development of two desktop virtual reality (VR) systems for safety training in the South African mining industry. The results of a usability context analysis were applied in the design of a VR prototype on generic hazards recognition and rectification, which was used and evaluated at South Africa‘s largest platinum mine site. A case study was conducted to investigate the causes and occurrences of falls of ground, which resulted in the design and development of a second VR prototype focusing on identifying and addressing underground geological conditions. DBR was also used in the generation of an evaluation framework for evaluating VR training systems, namely the Desktop VR Evaluation Framework (DEVREF), which is the major deliverable of the research. DEVREF can make a major contribution to the domain of e-training in mines and is transferable and customisable beyond its initial application. The process flow of the research thus moved beyond merely providing a solution to a complex real-world problem and became a classic DBR study with dual outcomes, namely a practical real-world solution in the form of two VR training systems and a theoretical contribution in the form of the DEVREF evaluation framework. DEVREF evaluates the design of desktop VR training systems in the categories of instructional design, usability, VR systems design, and context-specific criteria for mining. The use of DEVREF is demonstrated by reporting the application of its criteria in evaluating the two VR training systems. Heuristic evaluation, end-user surveys, and interviews were used as evaluation methods. A third contribution is methodological, in that this work proposes a new DBR process model and an interaction design lifecycle model suitable for VR training systems.ComputingD. Phil. (Information Systems

Image-Guided Robot-Assisted Needle Intervention Devices and Methods to Improve Targeting Accuracy

This dissertation addresses the development of medical devices, image-guided robots, and their application in needle-based interventions, as well as methods to improve accuracy and safety in clinical procedures. Needle access is an essential component of minimally invasive diagnostic and therapeutic procedures. Image-guiding devices are often required to help physicians handle the needle based on the images. Integrating robotic accuracy and precision with digital medical imaging has the potential to improve the clinical outcomes. The dissertation presents two robotic devices for interventions under Magnetic Resonance Imaging (MRI) respectively Computed Tomography (CT) – Ultrasound(US) cross modality guidance. The MRI robot is a MR Safe Remote Center of Motion (RCM) robot for direct image-guided needle interventions such as brain surgery. The dissertation also presents the integration of the robot with an intraoperative MRI scanner, and preclinical tests for deep brain needle access. The CT-Ultrasound guidance uses a robotic manipulator to handle an US probe within a CT scanner. The dissertation presents methods related to the co-registration of multi-image spaces with an intermediary frame, experiments for needle targeting. The dissertation also presents method on using optical tracking measurements specifically for medical robots. The method was derived to test the robots presented above. With advanced image-guidance, such as the robotic approaches, needle targeting accuracy may still be deteriorated by errors related to needle defections. Methods and associated devices for needle steering on the straight path are presented. These are a robotic approach that uses real-time ultrasound guidance to steer the needle; Modeling and testing of a method to markedly reduce targeting errors with bevel-point needles; Dynamic design, manufacturing, and testing of a novel core biopsy needle with straighter path, power assistance, reduced noise, and safer operation. Overall, the dissertation presents several developments that contribute to the field of medical devices, image-guided robots, and needle interventions. These include robot testing methods that can be used by other researchers, needle steering methods that can be used directly by physicians or for robotic devices, as well as several methods to improve the accuracy in image-guided interventions. Collectively, these contribute to the field and may have a significant clinical impact

Playing with Virtual Reality: Early Adopters of Commercial Immersive Technology

This dissertation examines early adopters of mass-marketed Virtual Reality (VR), as well as other immersive technologies, and the playful processes by which they incorporate the devices into their lives within New York City. Starting in 2016, relatively inexpensive head-mounted displays (HMDs) began to be manufactured and distributed by leaders in the game and information technology industries. However, even before these releases, developers and content creators were testing the devices through “development kits.” These de facto early adopters, who are distinctly commercially-oriented, acted as a launching point for the dissertation to scrutinize how, why and in what ways digital technologies spread to the wider public. Taking a multimethod approach that combines semi-structured interviews, two years of participant observation, media discourse analysis and autoethnography, the dissertation details a moment in the diffusion of an innovation and how publicity, social forces and industry influence adoption. This includes studying the media ecosystem which promotes and sustains VR, the role of New York City in framing opportunities and barriers for new users, and a description of meetups as important communities where devotees congregate. With Game Studies as a backdrop for analysis, the dissertation posits that the blurry relationship between labor and play held by most enthusiasts sustains the process of VR adoption. Their “playbor” colors not only the rhetoric and the focus of meetups, but also the activities, designs, and, most importantly, the financial and personal expenditures they put forth. Ultimately, play shapes the system of production by which adopters of commercial VR are introduced to the technology and, eventually, weave it into their lives. Situating play at the center of this system highlights that the assimilation of digital media is in part an embodied and irrational experience. It also suggests new models by which future innovations will spread to the public