Robot assisted craniofacial surgery: first clinical evaluation

Size: px
Start display at page:

Download "Robot assisted craniofacial surgery: first clinical evaluation"

Transcription

1 Robot assisted craniofacial surgery: first clinical evaluation C. Burghart*, R. Krempien, T. Redlich+, A. Pernozzoli+, H. Grabowski*, J. Muenchenberg*, J. Albers#, S. Haßfeld+, C. Vahl#, U. Rembold*, H. Woern* * Institute of Process Control and Robotics, Department of Computer Science, University of Karlsruhe, Karlsruhe, Germany * Clinic of Radiology, University of Heidelberg, Heidelberg, Germany + Clinic of Cranio-Maxillo-Facial-Surgery, University of Heidelberg, Heidelberg, Germany # Clinic of Cardiac Surgery, University of Heidelberg, Heidelberg, Germany For more than three years the surgeons of the Clinic of Craniofacial Surgery of the University of Heidelberg and the engineers of the Institute of Process Control and Robotics (IPR) of the University of Karlsruhe have been cooperating to devise an intelligent surgical robotic system for craniofacial surgery. In July 1998 a new surgical robotics system, a RX 90, was acquired, which was also used in first animal experiments in fall The experimental set up, the conducted tests, our experiences and results will be depicted in this paper. 1. INTRODUCTION Robot assisted craniofacial surgery is a great challenge to the engineer and the surgeon. The use of robots as intelligent surgical instruments promises a considerable improvement of surgical interventions. For three years engineers of the Institute of Process Control and Robotics of the University of Karlsruhe and maxillofacial surgeons of the University of Heidelberg have been cooperating to develop a robotic system to be used as surgical aid in the operating theatre. The first experimental set up consisting of a surgical robot (RX 90), an infrared navigation system, a force torque sensor, a surgical saw, a pointer, a fixation unit and a workstation was tested at the cardiac animal laboratory of the University of Heidelberg. The complete working procedure necessary to perform robot assisted surgery was evaluated starting with the data acquisition, medical image data processing, surgical planning and ending with the intraoperative support of the surgeon by an intraoperative navigation system and a surgical robot. The CT-scan and the surgery on the pig cadaver were performed at the University of Heidelberg, the surface models and the cutting trajectories of the planned osteotomies were generated at the University of Karlsruhe. * Acknowledgement This research was performed at the Clinic of Maxillofacial Surgery at the University of Heidelberg, Prof. Dr. Dr. Muehling, the Clinic of Cardiac Surgery, Prof. Dr. Hagl, and at the Institute of Process Control and Robotics, headed by Prof. Dr.-Ing. U. Rembold and Prof. Dr.-Ing. H. Wörn, at the University of Karlsruhe, Germany. The research is being funded by the German Research Foundation, as it is part of the special research programme, SFB 414, "Information Technology in Medicine - Computer and Sensor Supported Surgery".

2 Robot assisted osteotomies can be performed in two different manners: either the bone is cut autonomously by the robotic system or the surgeon guides the robotic arm along the trajectory while his movements are controlled and restricted by the robot control. The latter method was tested in the animal experiments. 2. EXPERIMENTS The studies were conducted with six pig cadavers at the laboratory of cardiac surgery. The first two times the pigs were beheaded and several different bone cuts were executed with the help of the robot on the solitary heads. Contemplating all experiments, five times the same tests were carried out: a bone cut on each side of the pig s nose up to the forehead and one opening of the skull. The cuts along the muzzle were chosen due to the differences in anatomy between pig and human Experimental Set Up The following devices were used for the robot assisted osteotomy in the animal operating room: An SGI-workstation was needed for visualizing the pig s skull, the planned bone cuts, the reference points and the position of an infrared pointer in twodimensional CT-slices and a threedimensional view. The reference points needed for the registration could be determined by our software as well. The workstation was also used for communicating with the Institute of Process Control and Robotics and transferring data. An infrared navigations system consisting of a camera array with two cameras, a pointer fitted with infrared diodes and a tool interface unit was connected to the workstation via serial link. A software developed by the IPR visualized the skull and communicated with the navigation system. A force torque sensor and a specific oszilliating pneumatic surgical saw, which was built at the IPR, were attached to the robot s flange. The sensor was connected with a PC via CAN- Bus in order to record the detected forces and torques. The forces and torques were then sent via serial port to the robot control Methods In a first step, twelve titanium mini screws were implanted into the skull of a pig to be used as artificial landmarks, then the head of the pig was scanned in a CT-scanner. The scan protocol was composed of nonoverlapping slices with a distance of 1.5 mm between the CTslices. Then the DICOM data were transformed into the tomogram format used by the Institute of Process Control and Robotics and sent to the laboratory in Karlsruhe via internet.

3 Figure 1. Generated surface model of the pig s skull. Figure 2. Planning of the bone cuts using a haptic interface. The information on the bone and the titanium miniscrews was extracted from the data set by seedpoint segmentation and threshold segmentation. Afterwards, supplementary to the volume model the segmented data were triangulated in order to obtain a surface model needed for surgical planning (Fig. 1). A haptic interface (phantom) was used to generate osteotomy lines on the surface model of the skull (Fig. 2). All data, both surface model and volume model as well as the intended bone cuts, were then transferred to the laboratory of cardiac surgery in Heidelberg via internet. (For more information about the surgical planning system refer to [1].) In the animal laboratory the head of the pig cadaver was fixed in a device resembling a combination of mayfield clamp and external fixture in oder to prevent any movement of the pig s head during robot manipulation. The bone cut to be performed by the robot was visualized on an SGI workstation using the volume model of the pig s skull. Four characteristic reference points were selected in the data set and sent to the robot control. The access to the bone to be operated on was planned with the help of the infrared navigation system (Fig. 3). After preparing the bone and fasting the pig s skull to the fixation device, the registration of the pig was repeated and the positions of the bone cuts were controlled. Then the reference point and the trajectories were sent to the robot control. The surgeon manually guided the robot arm to the four reference points for computing the transfomation.

4 Figure 3. Manual registration of the pig cadaver by infrared navigation. Figure 4. Manual guiding of the surgical saw fixed to the robot. The robot restricts the surgeon s movements. An autonomous movement of the robot along the trajectory with a 3 mm offset in direction of the z-coordinate confirmed the bone cut to be performed. The actual dissection of the bone was executed with the help of a pneumatic oszilliating craniofacial saw attached to the robot s wrist. The surgeon manually guided the robot arm along the trajectory whereby his movements perpendicular to the cutting line were restricted by the robot (Fig. 4 and Fig. 5). Only a small deviation of the trajectory (3 to 5 mm) was allowed. The force-torque-sensor detected the forces applied by the surgeon, and the robot control computed the intended movements. A software routine evaluated the movements and determined the robot s actions. Movements were only allowed within restricting cylinders around the segments of the trajectory. An approach of the edge of a cylinder resulted in increasing resistance of the robot arm. Movements outside the given tolerance were prohibited by the robot control. We experimented with varying tolerances of the force controlled restriction. The most accuracte results were achieved with a tolerance of 1.5 mm radius of the inner cylinder around a trajectory segment. The disadvantage of a small tolerances was, that it was not possible to cut bone thicker than 5 mm.

5 Figure 5. Robot supported disection of the pig s muzzle. During robot action the pig s head was fixed in a device resembling an external fixator. Intraoperatively, each performed bone cut was evaluated with the help of the navigation system. The accuracy of the bone cut depends on the quality of the registration and the tolerance permitted for manually guiding the robot arm. Postoperatively the skelettized skull of the pig was measured by a coordinate measuring machine. 3. RESULTS The studies were perfomed on six pig cadavers. Five times cuts along the muzzle and treptanations of the skull were realized. In each experiment when diseccting the bone between nose and forehead four reference points were used for registration. The registration error of the infrared navigation ranged from 0.5mm to 3mm. The registration error of the robot when manually registering the artificial landmarks ranged from 0.2 mm to 0.5 mm. Additionally, position errors resulting from the segmentation of the titanium screws in the CT data have to be contemplated. After the dissection of the bone a first evaluation was made using the infrared navigation system. Here, there never was noticed a deviation from the planned trajectory of more than 3 mm, which just is the tolerance for the sawing process. A later evaluation using a coordinate measuring machine to determine the deviation on the skelettized pig heads showed the same results. Still, the dura and the brain of the pig were never damaged when cutting an opening into the frontal bone using the presented method. All forces and torques meassured during the robot assisted surgical intervention were protocolled. When guiding the manipulator without restriction, forces between N and +1.0 N were detected. When restricting the surgeon s movements during the sawing process, the forces applied ranged from -2.5 N to N (Fig. 6). The detected torques ranged from mmnm to 1.0 mmnm when guiding the robot and form -2.3 mmnm to 3.1 mmnm when performing the bone cuts. Several features of the described method still have to be improved. The manual restricted guiding was rather hard to handle for the surgeon. The drift of the sensor is rather high (4 N), which causes some difficulties with small forces. It took a lot of force to guide the saw when

6 dissecting the bone; this feature was implemented on purpose, as otherwise the robot would move too big a distance within a time slot when a small force is applied to the surgical saw. Unintended cuts would result. Difficulties to get to know the position of the preplanned trajectory with respect to the robot when guiding the saw have meanwhile been improved. A man-machine interface depicting the deviation in x-, y- and z-direction has been developed. Figure 6. Forces detected when guiding the robot and when dissecting the bone. 4. CONCLUSION In this paper the first evaluation of a method for robot assited craniofacial surgery on pig cadavers has been presented. The manual guiding of a robot along a preplanned threedimensional trajectory while the robot restricts the surgeon s movements, offers a surgeon the opportunity to transpose an osteotomy as planned and to make the final decision on the actual position of the bone cut within a given range. Further research includes the autonomous performance of osteotomies by robot and the development of a method to decide the correct depth of the bone cut at each point of the trajectory. Additionally, a specific system architecture for the computer and robot supported operating theatre has to be devised.

7 REFERENCES 1. Münchenberg J., Haßfeld S., Raczkowsky J., Rembold U., Wörn H.: Expert supported Operation Planning in Maxillofacial Surgery. In Proceedings of Computer Assisted Radiology and Surgery (CAR'98), Tokyo (1998).

Virtual and Augmented Reality techniques embedded and based on a Operative Microscope. Training for Neurosurgery.

Virtual and Augmented Reality techniques embedded and based on a Operative Microscope. Training for Neurosurgery. Virtual and Augmented Reality techniques embedded and based on a Operative Microscope. Training for Neurosurgery. 1 M. Aschke 1, M.Ciucci 1,J.Raczkowsky 1, R.Wirtz 2, H. Wörn 1 1 IPR, Institute for Process

More information

Stereoscopic Augmented Reality System for Computer Assisted Surgery

Stereoscopic Augmented Reality System for Computer Assisted Surgery Marc Liévin and Erwin Keeve Research center c a e s a r, Center of Advanced European Studies and Research, Surgical Simulation and Navigation Group, Friedensplatz 16, 53111 Bonn, Germany. A first architecture

More information

Proposal for Robot Assistance for Neurosurgery

Proposal for Robot Assistance for Neurosurgery Proposal for Robot Assistance for Neurosurgery Peter Kazanzides Assistant Research Professor of Computer Science Johns Hopkins University December 13, 2007 Funding History Active funding for development

More information

THE USE OF OPEN REDUCtion

THE USE OF OPEN REDUCtion ORIGINAL ARTICLE Comparison of 3 Optical Navigation Systems for Computer-Aided Maxillofacial Surgery E. Bradley Strong, MD; Amir Rafii, MD; Bettina Holhweg-Majert, MD, DMD; Scott C. Fuller, MD; Marc Christian

More information

Scopis Hybrid Navigation with Augmented Reality

Scopis Hybrid Navigation with Augmented Reality Scopis Hybrid Navigation with Augmented Reality Intelligent navigation systems for head surgery www.scopis.com Scopis Hybrid Navigation One System. Optical and electromagnetic measurement technology. As

More information

HUMAN Robot Cooperation Techniques in Surgery

HUMAN Robot Cooperation Techniques in Surgery HUMAN Robot Cooperation Techniques in Surgery Alícia Casals Institute for Bioengineering of Catalonia (IBEC), Universitat Politècnica de Catalunya (UPC), Barcelona, Spain alicia.casals@upc.edu Keywords:

More information

NeuroSim - The Prototype of a Neurosurgical Training Simulator

NeuroSim - The Prototype of a Neurosurgical Training Simulator NeuroSim - The Prototype of a Neurosurgical Training Simulator Florian BEIER a,1,stephandiederich a,kirstenschmieder b and Reinhard MÄNNER a,c a Institute for Computational Medicine, University of Heidelberg

More information

A distributed planning and control system for industrial robots

A distributed planning and control system for industrial robots In: The 5th IEEE International Advanced Motion Control Workshop (AMC 98) A distributed planning and control system for industrial robots Christian WURLL, Dominik HENRICH, and Heinz WÖRN Institute for Process

More information

Fracture fixation providing absolute or relative stability, as required by the personality of the fracture, the patient, and the injury.

Fracture fixation providing absolute or relative stability, as required by the personality of the fracture, the patient, and the injury. Course program AOCMF Advanced Innovations Symposium & Workshop on Technological Advances in Head and Neck and Craniofacial Surgery December 8-11, 2011, Bangalore, India Our mission is to continuously set

More information

The Holographic Human for surgical navigation using Microsoft HoloLens

The Holographic Human for surgical navigation using Microsoft HoloLens EPiC Series in Engineering Volume 1, 2018, Pages 26 30 ReVo 2017: Laval Virtual ReVolution 2017 Transhumanism++ Engineering The Holographic Human for surgical navigation using Microsoft HoloLens Tomoki

More information

Using Simulation to Design Control Strategies for Robotic No-Scar Surgery

Using Simulation to Design Control Strategies for Robotic No-Scar Surgery Using Simulation to Design Control Strategies for Robotic No-Scar Surgery Antonio DE DONNO 1, Florent NAGEOTTE, Philippe ZANNE, Laurent GOFFIN and Michel de MATHELIN LSIIT, University of Strasbourg/CNRS,

More information

MULTI-LAYERED HYBRID ARCHITECTURE TO SOLVE COMPLEX TASKS OF AN AUTONOMOUS MOBILE ROBOT

MULTI-LAYERED HYBRID ARCHITECTURE TO SOLVE COMPLEX TASKS OF AN AUTONOMOUS MOBILE ROBOT MULTI-LAYERED HYBRID ARCHITECTURE TO SOLVE COMPLEX TASKS OF AN AUTONOMOUS MOBILE ROBOT F. TIECHE, C. FACCHINETTI and H. HUGLI Institute of Microtechnology, University of Neuchâtel, Rue de Tivoli 28, CH-2003

More information

Image Interpretation System for Informed Consent to Patients by Use of a Skeletal Tracking

Image Interpretation System for Informed Consent to Patients by Use of a Skeletal Tracking Image Interpretation System for Informed Consent to Patients by Use of a Skeletal Tracking Naoki Kamiya 1, Hiroki Osaki 2, Jun Kondo 2, Huayue Chen 3, and Hiroshi Fujita 4 1 Department of Information and

More information

SURGICAL TECHNIQUE GUIDE

SURGICAL TECHNIQUE GUIDE SURGICAL TECHNIQUE GUIDE DANGER indicates an imminently hazardous situation which, if not avoided, will result in death or serious injury. WARNING indicates a potentially hazardous situation which, if

More information

Robots in the Field of Medicine

Robots in the Field of Medicine Robots in the Field of Medicine Austin Gillis and Peter Demirdjian Malden Catholic High School 1 Pioneers Robots in the Field of Medicine The use of robots in medicine is where it is today because of four

More information

Creating an Infrastructure to Address HCMDSS Challenges Introduction Enabling Technologies for Future Medical Devices

Creating an Infrastructure to Address HCMDSS Challenges Introduction Enabling Technologies for Future Medical Devices Creating an Infrastructure to Address HCMDSS Challenges Peter Kazanzides and Russell H. Taylor Center for Computer-Integrated Surgical Systems and Technology (CISST ERC) Johns Hopkins University, Baltimore

More information

Computer Assisted Medical Interventions

Computer Assisted Medical Interventions Outline Computer Assisted Medical Interventions Force control, collaborative manipulation and telemanipulation Bernard BAYLE Joint course University of Strasbourg, University of Houston, Telecom Paris

More information

Using Web-Based Computer Graphics to Teach Surgery

Using Web-Based Computer Graphics to Teach Surgery Using Web-Based Computer Graphics to Teach Surgery Ken Brodlie Nuha El-Khalili Ying Li School of Computer Studies University of Leeds Position Paper for GVE99, Coimbra, Portugal Surgical Training Surgical

More information

ARTIFICIAL INTELLIGENCE - ROBOTICS

ARTIFICIAL INTELLIGENCE - ROBOTICS ARTIFICIAL INTELLIGENCE - ROBOTICS http://www.tutorialspoint.com/artificial_intelligence/artificial_intelligence_robotics.htm Copyright tutorialspoint.com Robotics is a domain in artificial intelligence

More information

Control and confidence all around. Philips EP cockpit people focused solutions for heart rhythm care

Control and confidence all around. Philips EP cockpit people focused solutions for heart rhythm care Control and confidence all around Philips EP cockpit people focused solutions for heart rhythm care EP cockpit - brings new innovations EP cockpit simplifies your EP lab 1. Improving your EP lab working

More information

SMart wearable Robotic Teleoperated surgery

SMart wearable Robotic Teleoperated surgery SMart wearable Robotic Teleoperated surgery This project has received funding from the European Union s Horizon 2020 research and innovation programme under grant agreement No 732515 Context Minimally

More information

Titolo presentazione sottotitolo

Titolo presentazione sottotitolo Integration of a Virtual Reality Environment for Percutaneous Renal Puncture in the Routine Clinical Practice of a Tertiary Department of Interventional Urology: A Feasibility Study Titolo presentazione

More information

Small Occupancy Robotic Mechanisms for Endoscopic Surgery

Small Occupancy Robotic Mechanisms for Endoscopic Surgery Small Occupancy Robotic Mechanisms for Endoscopic Surgery Yuki Kobayashi, Shingo Chiyoda, Kouichi Watabe, Masafumi Okada, and Yoshihiko Nakamura Department of Mechano-Informatics, The University of Tokyo,

More information

Methods for Haptic Feedback in Teleoperated Robotic Surgery

Methods for Haptic Feedback in Teleoperated Robotic Surgery Young Group 5 1 Methods for Haptic Feedback in Teleoperated Robotic Surgery Paper Review Jessie Young Group 5: Haptic Interface for Surgical Manipulator System March 12, 2012 Paper Selection: A. M. Okamura.

More information

Intelligent interaction

Intelligent interaction BionicWorkplace: autonomously learning workstation for human-machine collaboration Intelligent interaction Face to face, hand in hand. The BionicWorkplace shows the extent to which human-machine collaboration

More information

Distributed Robotics: Building an environment for digital cooperation. Artificial Intelligence series

Distributed Robotics: Building an environment for digital cooperation. Artificial Intelligence series Distributed Robotics: Building an environment for digital cooperation Artificial Intelligence series Distributed Robotics March 2018 02 From programmable machines to intelligent agents Robots, from the

More information

Application of Force Feedback in Robot Assisted Minimally Invasive Surgery

Application of Force Feedback in Robot Assisted Minimally Invasive Surgery Application of Force Feedback in Robot Assisted Minimally Invasive Surgery István Nagy, Hermann Mayer, and Alois Knoll Technische Universität München, 85748 Garching, Germany, {nagy mayerh knoll}@in.tum.de,

More information

IMAGE PROCESSING PAPER PRESENTATION ON IMAGE PROCESSING

IMAGE PROCESSING PAPER PRESENTATION ON IMAGE PROCESSING IMAGE PROCESSING PAPER PRESENTATION ON IMAGE PROCESSING PRESENTED BY S PRADEEP K SUNIL KUMAR III BTECH-II SEM, III BTECH-II SEM, C.S.E. C.S.E. pradeep585singana@gmail.com sunilkumar5b9@gmail.com CONTACT:

More information

NCCT IEEE PROJECTS ADVANCED ROBOTICS SOLUTIONS. Latest Projects, in various Domains. Promise for the Best Projects

NCCT IEEE PROJECTS ADVANCED ROBOTICS SOLUTIONS. Latest Projects, in various Domains. Promise for the Best Projects NCCT Promise for the Best Projects IEEE PROJECTS in various Domains Latest Projects, 2009-2010 ADVANCED ROBOTICS SOLUTIONS EMBEDDED SYSTEM PROJECTS Microcontrollers VLSI DSP Matlab Robotics ADVANCED ROBOTICS

More information

Medical robotics and Image Guided Therapy (IGT) Bogdan M. Maris, PhD Temporary Assistant Professor

Medical robotics and Image Guided Therapy (IGT) Bogdan M. Maris, PhD Temporary Assistant Professor Medical robotics and Image Guided Therapy (IGT) Bogdan M. Maris, PhD Temporary Assistant Professor E-mail bogdan.maris@univr.it Medical Robotics History, current and future applications Robots are Accurate

More information

OsteoBridge IKA Intramedullary Knee Arthrodesis Fixation System. From the «BioBall Company» OsteoBridge Family

OsteoBridge IKA Intramedullary Knee Arthrodesis Fixation System. From the «BioBall Company» OsteoBridge Family From the «BioBall Company» OsteoBridge Family OsteoBridge IKA Intramedullary Knee Arthrodesis Fixation System The modular system for the fixation of the knee joint 01. OsteoBridge IKA The OsteoBridge IKA

More information

R (2) Controlling System Application with hands by identifying movements through Camera

R (2) Controlling System Application with hands by identifying movements through Camera R (2) N (5) Oral (3) Total (10) Dated Sign Assignment Group: C Problem Definition: Controlling System Application with hands by identifying movements through Camera Prerequisite: 1. Web Cam Connectivity

More information

Can technological solutions support user experience, learning, and operation outcome in robotic surgery?

Can technological solutions support user experience, learning, and operation outcome in robotic surgery? VTT TECHNICAL RESEARCH CENTRE OF FINLAND LTD Can technological solutions support user experience, learning, and operation outcome in robotic surgery? ERF2016 Session Image Guided Robotic Surgery and Interventions

More information

Novel machine interface for scaled telesurgery

Novel machine interface for scaled telesurgery Novel machine interface for scaled telesurgery S. Clanton, D. Wang, Y. Matsuoka, D. Shelton, G. Stetten SPIE Medical Imaging, vol. 5367, pp. 697-704. San Diego, Feb. 2004. A Novel Machine Interface for

More information

From the «BioBall Company» OsteoBridge Family. OsteoBridge Knee Arthrodesis. The modular system for the fusion of the knee joint

From the «BioBall Company» OsteoBridge Family. OsteoBridge Knee Arthrodesis. The modular system for the fusion of the knee joint From the «BioBall Company» OsteoBridge Family OsteoBridge Knee Arthrodesis The modular system for the fusion of the knee joint OsteoBridge Knee Arthrodesis System 01. OsteoBridge Knee Arthrodesis The OsteoBridge

More information

Correlation of 2D Reconstructed High Resolution CT Data of the Temporal Bone and Adjacent Structures to 3D Images

Correlation of 2D Reconstructed High Resolution CT Data of the Temporal Bone and Adjacent Structures to 3D Images Correlation of 2D Reconstructed High Resolution CT Data of the Temporal Bone and Adjacent Structures to 3D Images Rodt T 1, Ratiu P 1, Becker H 2, Schmidt AM 2, Bartling S 2, O'Donnell L 3, Weber BP 2,

More information

Medical Robotics Overview of the course

Medical Robotics Overview of the course Medical Robotics Overview of the course September 2017 Guillaume.Morel@upmc.fr Professor in Robotics @ ISIR, UPMC Head of AGATHE, INSERM U1150 Director of Carnot Interfaces Co-founder of GEMA Scope Although

More information

Orthognathic model surgery by using of a passive Robot Arm

Orthognathic model surgery by using of a passive Robot Arm The Saudi Dental Journal (2010) 22, 47 55 King Saud University The Saudi Dental Journal www.ksu.edu.sa www.sciencedirect.com REVIEW ARTICLE Orthognathic model surgery by using of a passive Robot Arm Esam

More information

Surgical Technique 1

Surgical Technique 1 Surgical Technique 1 D-RAD SMART PACK Single-Use Volar Distal Radius Plating System Surgical Technique Table of Contents Indications... 3 Contraindications... 3 D-RAD SMART PACK product overview... 4 Instrumentation...

More information

* Intelli Robotic Wheel Chair for Specialty Operations & Physically Challenged

* Intelli Robotic Wheel Chair for Specialty Operations & Physically Challenged ADVANCED ROBOTICS SOLUTIONS * Intelli Mobile Robot for Multi Specialty Operations * Advanced Robotic Pick and Place Arm and Hand System * Automatic Color Sensing Robot using PC * AI Based Image Capturing

More information

Medical Robotics. Part II: SURGICAL ROBOTICS

Medical Robotics. Part II: SURGICAL ROBOTICS 5 Medical Robotics Part II: SURGICAL ROBOTICS In the last decade, surgery and robotics have reached a maturity that has allowed them to be safely assimilated to create a new kind of operating room. This

More information

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

Robots for Medicine and Personal Assistance. Guest lecturer: Ron Alterovitz Robots for Medicine and Personal Assistance Guest lecturer: Ron Alterovitz Growth of Robotics Industry Worldwide $70 $56 Market Size (Billions) $42 $28 $14 $0 1995 2000 2005 2010 2015 2020 2025 Source:

More information

Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation

Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation Distributed Vision System: A Perceptual Information Infrastructure for Robot Navigation Hiroshi Ishiguro Department of Information Science, Kyoto University Sakyo-ku, Kyoto 606-01, Japan E-mail: ishiguro@kuis.kyoto-u.ac.jp

More information

ehealth : Tools & Methods Dr. Asif Zafar

ehealth : Tools & Methods Dr. Asif Zafar ehealth : Tools & Methods Dr. Asif Zafar MBBS, MCPS, M.D. FRCS, FCPS Professor of Surgery, Rawalpindi Medical College Director, Telemedicine & E- Health Training Center, MIS Virtual Training Lab, Holy

More information

BodyViz fact sheet. BodyViz 2321 North Loop Drive, Suite 110 Ames, IA x555 www. bodyviz.com

BodyViz fact sheet. BodyViz 2321 North Loop Drive, Suite 110 Ames, IA x555 www. bodyviz.com BodyViz fact sheet BodyViz, the company, was established in 2007 at the Iowa State University Research Park in Ames, Iowa. It was created by ISU s Virtual Reality Applications Center Director James Oliver,

More information

Summer Engineering Research Internship for US Students (SERIUS) Department of Biomedical Engineering. (www.bioeng.nus.edu.

Summer Engineering Research Internship for US Students (SERIUS) Department of Biomedical Engineering. (www.bioeng.nus.edu. Summer Engineering Research Internship for US Students (SERIUS) Host Department: Department of Biomedical Engineering (www.bioeng.nus.edu.sg) BME Project 1 Host department Department of Biomedical Engineering

More information

Computer Assisted Abdominal

Computer Assisted Abdominal Computer Assisted Abdominal Surgery and NOTES Prof. Luc Soler, Prof. Jacques Marescaux University of Strasbourg, France In the past IRCAD Strasbourg + Taiwain More than 3.000 surgeons trained per year,,

More information

A Real-World Experiments Setup for Investigations of the Problem of Visual Landmarks Selection for Mobile Robots

A Real-World Experiments Setup for Investigations of the Problem of Visual Landmarks Selection for Mobile Robots Applied Mathematical Sciences, Vol. 6, 2012, no. 96, 4767-4771 A Real-World Experiments Setup for Investigations of the Problem of Visual Landmarks Selection for Mobile Robots Anna Gorbenko Department

More information

OPERATIVE TECHNIQUE RIVAL REDUCE FRACTURE PLATING SYSTEM. foot & ankle trauma procedures

OPERATIVE TECHNIQUE RIVAL REDUCE FRACTURE PLATING SYSTEM. foot & ankle trauma procedures OPERATIVE TECHNIQUE RIVAL REDUCE FRACTURE PLATING SYSTEM foot & ankle trauma procedures INTRODUCTION 3 SYSTEM DESCRIPTION 3 TECHNICAL DETAILS 4 SALES AND MARKETING CONFIGURATION 5 OPERATIVE TECHNIQUE 7

More information

MatrixMANDIBLE Preformed Reconstruction Plates. Preshaped to the mandibular anatomy.

MatrixMANDIBLE Preformed Reconstruction Plates. Preshaped to the mandibular anatomy. MatrixMANDIBLE Preformed Reconstruction Plates. Preshaped to the mandibular anatomy. Technique Guide CMF Matrix Table of Contents Introduction MatrixMANDIBLE Preformed Reconstruction Plates 2 AO Principles

More information

An Inexpensive Experimental Setup for Teaching The Concepts of Da Vinci Surgical Robot

An Inexpensive Experimental Setup for Teaching The Concepts of Da Vinci Surgical Robot An Inexpensive Experimental Setup for Teaching The Concepts of Da Vinci Surgical Robot S.Vignesh kishan kumar 1, G. Anitha 2 1 M.TECH Biomedical Engineering, SRM University, Chennai 2 Assistant Professor,

More information

Chapter 1 Introduction

Chapter 1 Introduction Chapter 1 Introduction It is appropriate to begin the textbook on robotics with the definition of the industrial robot manipulator as given by the ISO 8373 standard. An industrial robot manipulator is

More information

Robotic System Simulation and Modeling Stefan Jörg Robotic and Mechatronic Center

Robotic System Simulation and Modeling Stefan Jörg Robotic and Mechatronic Center Robotic System Simulation and ing Stefan Jörg Robotic and Mechatronic Center Outline Introduction The SAFROS Robotic System Simulator Robotic System ing Conclusions Folie 2 DLR s Mirosurge: A versatile

More information

Learning and Using Models of Kicking Motions for Legged Robots

Learning and Using Models of Kicking Motions for Legged Robots Learning and Using Models of Kicking Motions for Legged Robots Sonia Chernova and Manuela Veloso Computer Science Department Carnegie Mellon University Pittsburgh, PA 15213 {soniac, mmv}@cs.cmu.edu Abstract

More information

Chapter 1 Introduction to Robotics

Chapter 1 Introduction to Robotics Chapter 1 Introduction to Robotics PS: Most of the pages of this presentation were obtained and adapted from various sources in the internet. 1 I. Definition of Robotics Definition (Robot Institute of

More information

BRAINWAVE CONTROLLED WHEEL CHAIR USING EYE BLINKS

BRAINWAVE CONTROLLED WHEEL CHAIR USING EYE BLINKS BRAINWAVE CONTROLLED WHEEL CHAIR USING EYE BLINKS Harshavardhana N R 1, Anil G 2, Girish R 3, DharshanT 4, Manjula R Bharamagoudra 5 1,2,3,4,5 School of Electronicsand Communication, REVA University,Bangalore-560064

More information

Reflex Hybrid System Overview

Reflex Hybrid System Overview Spine Reflex Hybrid System Overview Anterior Cervical Plating System Introduction The Reflex Hybrid ACP System offers a low-profile anterior cervical plate along with a selection of bone screw types to

More information

MEDICAL ADVANCED TECHNOLOGY EMERGENCY REMOVAL UNIVERSAL EXTRACTION SET. for Intramedullary Nail System

MEDICAL ADVANCED TECHNOLOGY EMERGENCY REMOVAL UNIVERSAL EXTRACTION SET. for Intramedullary Nail System MEDICAL ADVANCED TECHNOLOGY EMERGENCY REMOVAL UNIVERSAL EXTRACTION SET for Intramedullary Nail System introducing ourselve Manufacturer of surgical implants and medical devices. Solutions for patient orthopaedic

More information

Robone: Next Generation Orthopedic Surgical Device Final Report

Robone: Next Generation Orthopedic Surgical Device Final Report Robone: Next Generation Orthopedic Surgical Device Final Report Team Members Andrew Hundt Alex Strickland Shahriar Sefati Mentors Prof. Peter Kazanzides (Prof. Taylor) Background: Total hip replacement

More information

Right Angle Screwdriver

Right Angle Screwdriver Right Angle Screwdriver October 12, 2009 Team: Scott Carpenter - Team Leader Chuck Donaldson - Communicator Nate Retzlaff - BWIG John McGuire - BSAC Client: Ashish Mahajan, MD Resident Plastic and Reconstructive

More information

MEDIALMAX System SURGICAL TECHNIQUE

MEDIALMAX System SURGICAL TECHNIQUE MAXLOCK EXTREME MEDIALMAX System SURGICAL TECHNIQUE Contents The MEDIALMAX Advantage Design Feature Various flex options POCKETLOCK Technology Anatomic design Advantage Provides the surgeon with multiple

More information

PRODUCT INFORMATION. SpeedTip C 2.0, 2.8. Self-Drilling Compression Screws. APTUS Foot

PRODUCT INFORMATION. SpeedTip C 2.0, 2.8. Self-Drilling Compression Screws. APTUS Foot PRODUCT INFORMATION SpeedTip C 2.0, 2.8 Self-Drilling Compression Screws APTUS Foot Literature 1. Heidemann, W.; Terheyden, H.; Gerlach, K. L. Analysis of the osseous / metal interface of drill free screws

More information

Robotics: Evolution, Technology and Applications

Robotics: Evolution, Technology and Applications Robotics: Evolution, Technology and Applications By: Dr. Hamid D. Taghirad Head of Control Group, and Department of Electrical Engineering K.N. Toosi University of Tech. Department of Electrical Engineering

More information

Improving the Safety and Efficiency of Roadway Maintenance Phase II: Developing a Vision Guidance System for the Robotic Roadway Message Painter

Improving the Safety and Efficiency of Roadway Maintenance Phase II: Developing a Vision Guidance System for the Robotic Roadway Message Painter Improving the Safety and Efficiency of Roadway Maintenance Phase II: Developing a Vision Guidance System for the Robotic Roadway Message Painter Final Report Prepared by: Ryan G. Rosandich Department of

More information

Application Areas of AI Artificial intelligence is divided into different branches which are mentioned below:

Application Areas of AI   Artificial intelligence is divided into different branches which are mentioned below: Week 2 - o Expert Systems o Natural Language Processing (NLP) o Computer Vision o Speech Recognition And Generation o Robotics o Neural Network o Virtual Reality APPLICATION AREAS OF ARTIFICIAL INTELLIGENCE

More information

High Energy Digital Radiography & 3D-CT for Industrial Systems

High Energy Digital Radiography & 3D-CT for Industrial Systems DIR 2007 - International Symposium on Digital industrial Radiology and Computed Tomography, June 25-27, 2007, Lyon, France High Energy Digital Radiography & 3D-CT for Industrial Systems Non-Destructive

More information

INTRODUCING THE VIRTUAL REALITY FLIGHT SIMULATOR FOR SURGEONS

INTRODUCING THE VIRTUAL REALITY FLIGHT SIMULATOR FOR SURGEONS INTRODUCING THE VIRTUAL REALITY FLIGHT SIMULATOR FOR SURGEONS SAFE REPEATABLE MEASUREABLE SCALABLE PROVEN SCALABLE, LOW COST, VIRTUAL REALITY SURGICAL SIMULATION The benefits of surgical simulation are

More information

Technique Guide. 2.4/2.7 mm Locking Tarsal Plates. Talus Plate, Navicular Plate and Cuboid Plate.

Technique Guide. 2.4/2.7 mm Locking Tarsal Plates. Talus Plate, Navicular Plate and Cuboid Plate. Technique Guide 2.4/2.7 mm Locking Tarsal Plates. Talus Plate, Navicular Plate and Cuboid Plate. Table of Contents Introduction 2.4/2.7 mm Locking Tarsal Plates 2 AO Principles 4 Indications 5 Clinical

More information

NIH Public Access Author Manuscript Otol Neurotol. Author manuscript; available in PMC 2012 January 1.

NIH Public Access Author Manuscript Otol Neurotol. Author manuscript; available in PMC 2012 January 1. NIH Public Access Author Manuscript Published in final edited form as: Otol Neurotol. 2011 January ; 32(1): 11 16. doi:10.1097/mao.0b013e3181fcee9e. Robotic Mastoidectomy Andrei Danilchenko, B.S., Graduate

More information

Haptic Reproduction and Interactive Visualization of a Beating Heart Based on Cardiac Morphology

Haptic Reproduction and Interactive Visualization of a Beating Heart Based on Cardiac Morphology MEDINFO 2001 V. Patel et al. (Eds) Amsterdam: IOS Press 2001 IMIA. All rights reserved Haptic Reproduction and Interactive Visualization of a Beating Heart Based on Cardiac Morphology Megumi Nakao a, Masaru

More information

Technique Guide. Occipito-Cervical Fusion System. Implants and instruments designed to optimize fixation to the occiput.

Technique Guide. Occipito-Cervical Fusion System. Implants and instruments designed to optimize fixation to the occiput. Technique Guide Occipito-Cervical Fusion System. Implants and instruments designed to optimize fixation to the occiput. Table of Contents Introduction Overview 2 AO ASIF Principles 4 Indications and Contraindications

More information

RESEARCH AND DEVELOPMENT OF DSP-BASED FACE RECOGNITION SYSTEM FOR ROBOTIC REHABILITATION NURSING BEDS

RESEARCH AND DEVELOPMENT OF DSP-BASED FACE RECOGNITION SYSTEM FOR ROBOTIC REHABILITATION NURSING BEDS RESEARCH AND DEVELOPMENT OF DSP-BASED FACE RECOGNITION SYSTEM FOR ROBOTIC REHABILITATION NURSING BEDS Ming XING and Wushan CHENG College of Mechanical Engineering, Shanghai University of Engineering Science,

More information

Application of SLOFEC and Laser Technology for Testing of Buried Pipes

Application of SLOFEC and Laser Technology for Testing of Buried Pipes 19 th World Conference on Non-Destructive Testing 2016 Application of SLOFEC and Laser Technology for Testing of Buried Pipes Gerhard SCHEER 1 1 TMT - Test Maschinen Technik GmbH, Schwarmstedt, Germany

More information

Variable Angle LCP Tarsal Plates 2.4/2.7. Navicular Plate and Cuboid Plates.

Variable Angle LCP Tarsal Plates 2.4/2.7. Navicular Plate and Cuboid Plates. Variable Angle LCP Tarsal Plates 2.4/2.7. Navicular Plate and Cuboid Plates. Surgical Technique This publication is not intended for distribution in the USA. Instruments and implants approved by the AO

More information

Minimally invasive surgical skills evaluation in the field of otolaryngology

Minimally invasive surgical skills evaluation in the field of otolaryngology Minimally invasive surgical skills evaluation in the field of otolaryngology Alejandro Cuevas 1, Daniel Lorias 1, Arturo Minor 1, Jose A. Gutierrez 2, Rigoberto Martinez 3 1 CINVESTAV-IPN, México D.F.,

More information

Ascent. Posterior Occipital Cervico-Thoracic (POCT) System

Ascent. Posterior Occipital Cervico-Thoracic (POCT) System Ascent Posterior Occipital Cervico-Thoracic (POCT) System Ascent Posterior Occipital Cervico-Thoracic (POCT) System VERSATILITY, RELIABILITY AND SIMPLICITY FOR COMPLEX SPINAL PROCEDURES The Ascent POCT

More information

Telemanipulation and Telestration for Microsurgery Summary

Telemanipulation and Telestration for Microsurgery Summary Telemanipulation and Telestration for Microsurgery Summary Microsurgery presents an array of problems. For instance, current methodologies of Eye Surgery requires freehand manipulation of delicate structures

More information

ORTHOLINK. 2 - Hole Wedge Osteotomy Plate SURGICAL TECHNIQUE

ORTHOLINK. 2 - Hole Wedge Osteotomy Plate SURGICAL TECHNIQUE MAXLOCK EXTREME ORTHOLINK 2 - Hole Wedge Osteotomy Plate SURGICAL TECHNIQUE Contents Key Design Features 3 Surgical Technique 4 Implants and Instruments 7 Proper surgical procedures and techniques are

More information

Computer Vision Based Chess Playing Capabilities for the Baxter Humanoid Robot

Computer Vision Based Chess Playing Capabilities for the Baxter Humanoid Robot International Conference on Control, Robotics, and Automation 2016 Computer Vision Based Chess Playing Capabilities for the Baxter Humanoid Robot Andrew Tzer-Yeu Chen, Kevin I-Kai Wang {andrew.chen, kevin.wang}@auckland.ac.nz

More information

Autonomous Face Recognition

Autonomous Face Recognition Autonomous Face Recognition CymbIoT Autonomous Face Recognition SECURITYI URBAN SOLUTIONSI RETAIL In recent years, face recognition technology has emerged as a powerful tool for law enforcement and on-site

More information

Variable Angle LCP Forefoot/Midfoot System 2.4/2.7. Procedure specific plates for osteotomies, arthrodeses and fractures of the foot.

Variable Angle LCP Forefoot/Midfoot System 2.4/2.7. Procedure specific plates for osteotomies, arthrodeses and fractures of the foot. Instruction for Use Variable Angle LCP Forefoot/Midfoot System 2.4/2.7. Procedure specific plates for osteotomies, arthrodeses and fractures of the foot. Table of Contents Introduction VA-LCP Forefoot/Midfoot

More information

The Trend of Medical Image Work Station

The Trend of Medical Image Work Station The Trend of Medical Image Work Station Abstract Image Work Station has rapidly improved its efficiency and its quality along the development of biomedical engineering. The quality improvement of image

More information

Path Planning for Mobile Robots Based on Hybrid Architecture Platform

Path Planning for Mobile Robots Based on Hybrid Architecture Platform Path Planning for Mobile Robots Based on Hybrid Architecture Platform Ting Zhou, Xiaoping Fan & Shengyue Yang Laboratory of Networked Systems, Central South University, Changsha 410075, China Zhihua Qu

More information

Incorporating novel image processing methods in a hospital-wide PACS

Incorporating novel image processing methods in a hospital-wide PACS International Congress Series 1281 (2005) 1016 1021 www.ics-elsevier.com Incorporating novel image processing methods in a hospital-wide PACS Erwin Bellon a, T, Michel Feron a, Paul Neyens a, Klaas Peeters

More information

(12) Patent Application Publication (10) Pub. No.: US 2013/ A1

(12) Patent Application Publication (10) Pub. No.: US 2013/ A1 (19) United States US 20130041381A1 (12) Patent Application Publication (10) Pub. No.: US 2013/0041381A1 Clair (43) Pub. Date: Feb. 14, 2013 (54) CUSTOMIZED DRILLING JIG FOR (52) U.S. Cl.... 606/96; 607/137

More information

VBOSS. Surgical Technique. Vertebral Body Support System

VBOSS. Surgical Technique. Vertebral Body Support System VBOSS Surgical Technique Vertebral Body Support System 1. System Description 1.1 Implants...3 1.2 Instruments...4 2. Indications...8 3. Patient Position...8 4. Surgical Approach 4.1 Choice of adequate

More information

Fixation screw ENGLISH

Fixation screw ENGLISH Fixation screw ENGLISH CONCEPT The QWIX fixation screws were designed for extremity fixation and provide speed and precision for challenging surgical situations. The QWIX screw s unique design allows:

More information

Cognitive robots and emotional intelligence Cloud robotics Ethical, legal and social issues of robotic Construction robots Human activities in many

Cognitive robots and emotional intelligence Cloud robotics Ethical, legal and social issues of robotic Construction robots Human activities in many Preface The jubilee 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016 was held in the conference centre of the Best Western Hotel M, Belgrade, Serbia, from 30 June to 2 July

More information

Anterior Cervical Plate SURGICAL TECHNIQUE GUIDE. Surgeon Driven Innovation

Anterior Cervical Plate SURGICAL TECHNIQUE GUIDE. Surgeon Driven Innovation Anterior Cervical Plate SURGICAL TECHNIQUE GUIDE Surgeon Driven Innovation 1 The Snowmass Anterior Cervical Plate System is intended for the surgical treatment and correction of traumatic and pathologic

More information

The project. General challenges and problems. Our subjects. The attachment and locomotion system

The project. General challenges and problems. Our subjects. The attachment and locomotion system The project The Ceilbot project is a study and research project organized at the Helsinki University of Technology. The aim of the project is to design and prototype a multifunctional robot which takes

More information

SIMULATION MODELING WITH ARTIFICIAL REALITY TECHNOLOGY (SMART): AN INTEGRATION OF VIRTUAL REALITY AND SIMULATION MODELING

SIMULATION MODELING WITH ARTIFICIAL REALITY TECHNOLOGY (SMART): AN INTEGRATION OF VIRTUAL REALITY AND SIMULATION MODELING Proceedings of the 1998 Winter Simulation Conference D.J. Medeiros, E.F. Watson, J.S. Carson and M.S. Manivannan, eds. SIMULATION MODELING WITH ARTIFICIAL REALITY TECHNOLOGY (SMART): AN INTEGRATION OF

More information

RENDERING MEDICAL INTERVENTIONS VIRTUAL AND ROBOT

RENDERING MEDICAL INTERVENTIONS VIRTUAL AND ROBOT RENDERING MEDICAL INTERVENTIONS VIRTUAL AND ROBOT Lavinia Ioana Săbăilă Doina Mortoiu Theoharis Babanatsas Aurel Vlaicu Arad University, e-mail: lavyy_99@yahoo.com Aurel Vlaicu Arad University, e mail:

More information

The Percutaneous Reduction Forceps Technique Guide

The Percutaneous Reduction Forceps Technique Guide The Percutaneous Reduction Forceps Technique Guide Indications + Product Overview Introduction The Percutaneous Reduction Forceps The Percutaneous Reduction Forceps facilitate standard technique for fixation

More information

What is AI? AI is the reproduction of human reasoning and intelligent behavior by computational methods. an attempt of. Intelligent behavior Computer

What is AI? AI is the reproduction of human reasoning and intelligent behavior by computational methods. an attempt of. Intelligent behavior Computer What is AI? an attempt of AI is the reproduction of human reasoning and intelligent behavior by computational methods Intelligent behavior Computer Humans 1 What is AI? (R&N) Discipline that systematizes

More information

REBO: A LIFE-LIKE UNIVERSAL REMOTE CONTROL

REBO: A LIFE-LIKE UNIVERSAL REMOTE CONTROL World Automation Congress 2010 TSI Press. REBO: A LIFE-LIKE UNIVERSAL REMOTE CONTROL SEIJI YAMADA *1 AND KAZUKI KOBAYASHI *2 *1 National Institute of Informatics / The Graduate University for Advanced

More information

Key-Words: - Neural Networks, Cerebellum, Cerebellar Model Articulation Controller (CMAC), Auto-pilot

Key-Words: - Neural Networks, Cerebellum, Cerebellar Model Articulation Controller (CMAC), Auto-pilot erebellum Based ar Auto-Pilot System B. HSIEH,.QUEK and A.WAHAB Intelligent Systems Laboratory, School of omputer Engineering Nanyang Technological University, Blk N4 #2A-32 Nanyang Avenue, Singapore 639798

More information

Development of excavator training simulator using leap motion controller

Development of excavator training simulator using leap motion controller Journal of Physics: Conference Series PAPER OPEN ACCESS Development of excavator training simulator using leap motion controller To cite this article: F Fahmi et al 2018 J. Phys.: Conf. Ser. 978 012034

More information

Reprint (R37) DLP Products DMD-Based Hyperspectral Imager Makes Surgery Easier

Reprint (R37) DLP Products DMD-Based Hyperspectral Imager Makes Surgery Easier Reprint (R37) DLP Products DMD-Based Hyperspectral Imager Makes Surgery Easier Reprinted with permission by Dr. Karel J. Zuzak University of Texas/Arlington October 2008 Gooch & Housego 4632 36 th Street,

More information

Supplementary Figure 1

Supplementary Figure 1 Supplementary Figure 1 Left aspl Right aspl Detailed description of the fmri activation during allocentric action observation in the aspl. Averaged activation (N=13) during observation of the allocentric

More information

LMT F14. Cut in Three Dimensions. The Rowiak Laser Microtome: 3-D Cutting and Imaging

LMT F14. Cut in Three Dimensions. The Rowiak Laser Microtome: 3-D Cutting and Imaging LMT F14 Cut in Three Dimensions The Rowiak Laser Microtome: 3-D Cutting and Imaging The Next Generation of Microtomes LMT F14 - Non-contact laser microtomy The Rowiak laser microtome LMT F14 is a multi-purpose

More information