Abstract
This paper presents the applications of observers in robot-assisted medical procedures, in which robotic manipulators act in collaboration with surgeons or therapists to improve the efficiency and accuracy of the interventions. Observers can be considered as replacements for sensors to provide the surgeon and/or the robots with information about the tissue, surgical tools, and their interaction. This paper provides an overview of the observation methods for estimating the tool pose, tissue motion, and the interaction forces. Having a good model for the system and guaranteeing the safety and efficiency of the methods are the challenges involved in using the observers in medical procedures. However, the application-driven nature of the medical robotics provides a thriving field of study for using the observers.
Zusammenfassung
Dieses Paper präsentiert die Anwendungen von Beobachtern in roboterassistierten medizinischen Eingriffen, in denen Manipulatoren in Zusammenarbeit mit Chirurgen oder Therapeuten agieren, um die Effizienz und Präzision der Eingriffe zu steigern. Die Beobachter können als Ersatz für Sensoren angesehen werden, die dem Chirurgen und/oder dem Roboter Informationen über das Gewebe, die chirurgischen Werkzeuge und deren Wechselwirkung zur Verfügung stellen. Dieses Paper bietet einen Überblick über die Beobachtungsmethoden für die Ermittlung der Haltung der Werkzeuge, der Bewegung des Gewebes sowie der Interaktionskräfte. Zu den Herausforderungen der Anwendung von Beobachtern in medizinischen Eingriffen gehören ein gutes Modell für das System sowie garantierte Sicherheit und Leistungsfähigkeit der Methoden. Die anwendungsorientierte Natur der medizinische Robotik bietet jedoch ein aussichtsreiches blühendes Forschungsgebiet zur Anwendung der Beobachter.
Funding source: Natural Sciences and Engineering Research Council of Canada
Award Identifier / Grant number: CHRP 446520
Funding source: Canadian Institutes of Health Research
Award Identifier / Grant number: CPG 127768
Funding source: Alberta Innovates - Health Solutions
Award Identifier / Grant number: CRIO 201201232
Funding statement: This work was supported by the Natural Sciences and Engineering Research Council of Canada (NSERC) under grant CHRP 446520, the Canadian Institutes of Health Research (CIHR) under grant CPG 127768 and the Alberta Innovates – Health Solutions (AIHS) under grant CRIO 201201232.
About the authors
Bita Fallahi received her BSc and MSc degrees in electrical engineering from K. N. Toosi University of Technology, Iran, in 2007 and 2011, respectively. She is currently working towards the Doctoral degree in Electrical and Computer Engineering at the University of Alberta and is working on robot-assisted minimally invasive surgery. Her current research interests include medical robotics and image-guided surgery.
Ron S. Sloboda received the B. Sc. degree in physics from the University of Manitoba, Winnipeg, MB, Canada, in 1974, and the Ph. D. degree in physics, nuclear theory, from the University of Alberta, Edmonton, AB, Canada, in 1979. He is currently a Professor in the Department of Oncology, University of Alberta. His research interests include dosimetry and treatment planning for brachytherapy, including the design of clinical studies to obtain patient data and model based dose calculation.
Mahdi Tavakoli is a Professor in the Department of Electrical and Computer Engineering, University of Alberta, Canada. He received his BSc and MSc degrees in Electrical Engineering from Ferdowsi University and K. N. Toosi University, Iran, in 1996 and 1999, respectively. He received his PhD degree in Electrical and Computer Engineering from the University of Western Ontario, Canada, in 2005. In 2006, he was a post-doctoral researcher at Canadian Surgical Technologies and Advanced Robotics (CSTAR), Canada. In 2007–2008, he was an NSERC Post-Doctoral Fellow at Harvard University, USA. Dr. Tavakoli’s research interests broadly involve the areas of robotics and systems control. Specifically, his research focuses on haptics and teleoperation control, medical robotics, and image-guided surgery. Dr. Tavakoli is the lead author of Haptics for Teleoperated Surgical Robotic Systems (World Scientific, 2008). He is an Associate Editor for IEEE/ASME Transactions on Mechatronics, Journal of Medical Robotics Research, Control Engineering Practice, and Mechatronics.
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