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: Japan Robotics Association 2
What is a Robot? Karel Čapek's 1920 play R.U.R. (Rossum's Universal Robots) robota = drudgery, hard work 3
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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
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
Robotics The study of robot design, programming, control, and application Isaac Asimov May 1941 issue - Liar! 7
Applications of Robotics 8
Manufacturing 9
Growth of Robotics Industry Worldwide $70 $56 Market Size (Billions) $42 $28 $14 $0 1995 2000 2005 2010 2015 2020 2025 Source: Japan Robotics Association 10
Growth of Robotics Industry Worldwide $70 $56 Market Size (Billions) $42 $28 Home, Medical, Public Sector $14 Manufacturing $0 1995 2000 2005 2010 2015 2020 2025 Source: Japan Robotics Association 11
Sense Plan Move 12
}Major contribution of Computer Science Sense Plan Move What if there is uncertainty or the environment is changing? Uncertainty 13
Why use Robots? Accuracy Precision Repetitive, dull tasks Dangerous/remote environments Small/large scales Large/fine forces 14
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
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
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
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
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
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
Example: Joint Replacement Surgery Every year, more than 600,000 people in the U.S. undergo hip- or knee-replacement surgery 21
ROBODOC: Joint Replacement Surgery Manual surgery Robotic surgery Over 10,000 hip & knee replacements since 1992, but high cost 22
Laparoscopic Procedures Advantages compared to open surgery: Fewer incisions, quicker recovery Disadvantages: Difficult for physicians, limited field of view, coordinate system transformation, tiring 23
Robot Tele-operation Operating a robot from a distance 24
Robotic Laparoscopic Procedures Intuitive Surgical s da Vinci Surgical System Advantages: Visual magnification, coordinate system transformation, stabilization, reduce # incisions 25
Adoption of Intuitive Surgical Robot 25% growth annually since 1999 26
Intuitive Surgical s da Vinci System 27
Robotic Surgery 28
Can routine surgical tasks be automated? 29
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