Robots for Medicine and Personal Assistance. Guest lecturer: Ron Alterovitz

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1 Robots for Medicine and Personal Assistance Guest lecturer: Ron Alterovitz

2 Growth of Robotics Industry Worldwide $70 $56 Market Size (Billions) $42 $28 $14 $ Source: Japan Robotics Association 2

3 What is a Robot? Karel Čapek's 1920 play R.U.R. (Rossum's Universal Robots) robota = drudgery, hard work 3

4 4

5 Wikipedia: What is a robot? A robot is a virtual or mechanical artificial agent. In practice, it is usually an electro-mechanical machine which is guided by computer or electronic programming, and is thus able to do tasks on its own. 5

6 What is a Robot? Joseph Engelberger - the Father of Robotics The Unimate, GM assembly line in New Jersey, in 1961 I can't define a robot, but I know one when I see one. 6

7 Robotics The study of robot design, programming, control, and application Isaac Asimov May 1941 issue - Liar! 7

8 Applications of Robotics 8

9 Manufacturing 9

10 Growth of Robotics Industry Worldwide $70 $56 Market Size (Billions) $42 $28 $14 $ Source: Japan Robotics Association 10

11 Growth of Robotics Industry Worldwide $70 $56 Market Size (Billions) $42 $28 Home, Medical, Public Sector $14 Manufacturing $ Source: Japan Robotics Association 11

12 Sense Plan Move 12

13 }Major contribution of Computer Science Sense Plan Move What if there is uncertainty or the environment is changing? Uncertainty 13

14 Why use Robots? Accuracy Precision Repetitive, dull tasks Dangerous/remote environments Small/large scales Large/fine forces 14

performing surgical procedures while still

15 Why use robots in medicine? Enhance the effectiveness of a procedure by coupling information to action in the operating room Transcend humans physical limitations in performing surgical procedures while still affording them to control over the procedure Precision of imaging > precision of hand surgery 15

16 Computational Challenges Motion planning: Patient variability Deformable workspace (physically-based simulation) Uncertainty in tissue/device interaction Limited computation time Patient safety requirements: No excessive forces No errors 16

17 First Clinically-used Medical Robot CT-Guided Brain Biopsy Memorial Medical Center, Long Beach, 1985 [Yik San Kwoh et al., IEEE Trans. Biomedical Engineering, 1988] 17

18 Computer-Integrated Surgery Preoperative Computerassisted planning Intraoperative Update Model Update Plan Patient-specific Model Computer- Assisted Execution Postoperative Patient Atlas Computer- Assisted Assessment [R. Taylor, JHU] 18

CAD Model Surgical CAM Patient Atlas Postoperative Computer-

19 Computer-Integrated Surgery Preoperative Computerassisted planning Intraoperative Update Model Update Plan Surgical Patient-specific CAD Model Surgical CAM Patient Atlas Postoperative Computer- Assisted Execution Surgical Computer- Assisted TQM Assessment [R. Taylor, JHU] 19

20 Computational Challenges Preoperative Computerassisted planning Intraoperative Update Model Update Plan Patient-specific Model Computer- Assisted Execution Patient Atlas Postoperative Computer- Assisted Assessment Motion Planning, Simulation [R. Taylor, JHU] 20

21 Example: Joint Replacement Surgery Every year, more than 600,000 people in the U.S. undergo hip- or knee-replacement surgery 21

22 ROBODOC: Joint Replacement Surgery Manual surgery Robotic surgery Over 10,000 hip & knee replacements since 1992, but high cost 22

23 Laparoscopic Procedures Advantages compared to open surgery: Fewer incisions, quicker recovery Disadvantages: Difficult for physicians, limited field of view, coordinate system transformation, tiring 23

24 Robot Tele-operation Operating a robot from a distance 24

25 Robotic Laparoscopic Procedures Intuitive Surgical s da Vinci Surgical System Advantages: Visual magnification, coordinate system transformation, stabilization, reduce # incisions 25

26 Adoption of Intuitive Surgical Robot 25% growth annually since

27 Intuitive Surgical s da Vinci System 27

28 Robotic Surgery 28

29 Can routine surgical tasks be automated? 29

30 Robotics at UNC COMP 060: Robotics with Legos COMP 590: Artificial Intelligence COMP 590: Intro to Robotics COMP 790: Motion Planning COMP 790: Medical Robotics 30

Surgical Assist Devices & Systems aka Surgical Robots

Surgical Assist Devices & Systems aka Surgical Robots D. J. McMahon 150125 rev cewood 2018-01-19 Key Points Surgical Assist Devices & Systems: Understand why the popular name robot isn t accurate for Surgical