Lecture1 Introduction
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Mulongo LinoLecture1 Introduction
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Mulongo LinoLecture 1:
Introduction to medical
robotics
Dr. Wasswa William
Robots
• Accurate andare...
precise; Untiring
• Smaller or larger than people
(as needed)
• Remotely operated (as
needed)
• Connected to computers, which
gives them access to
information
• Not always able to operate autonomously
in highly complex, uncertain environments
Potential Impact
of Medical
Robotics TODAY:
Treatments are
both qualitatively and
level of quantitatively
limited
challeng by human
e abilities
W I T H ROBOTICS:
More clinicians can perform
more difficult (and even
new) procedures; more
patients can be
rehabilitated
number of patients
P reoperati Intraoperative
ve update model update plan
computer-
assisted
CAD planning
CAM
real-time
patient-
compute
specific
r
modeling
assistanc
Postoperat e
atlas TQM
ive
computer-
assisted
patient
Surgical
robotics:
Giving the surgeon
superhuman
capabilities
Level of Human Input
Varies
Oral
Cooperative
manipulatio
Manual
JHU n
AESOP
JHU
Teleoperation Autonomou
s
Dario et al.
Sensei
da Vinci
CyberKnife
Open
Surgery
Surgeon
Patient
Image source: www.physicianphotos.com
Minimally Invasive
Surgery
Surgeon
Instrument/Camera
Patient
Image source: www.womenssurgerygroup.com
Teleoperated Robot-Assisted
Minimally Invasive
Surgery
Surgeon Information-Enhanced
RMIS
Master Console Patient-Side Robot
Instrument/Camera
Patient
© 2012 Intuitive Surgical, Inc.
Integrating
Images
Laparoscop
ic
ultrasound
integrated
with the da
Vinci
surgical
system
Russell Taylor and
Gregory Hager
(JHU)
The Sensing
Challenge stiffness
differences are
difficult to feel
through a rigid
contact
stiffnes
In collaboration with D.Yuh s
(JHMI Cardiac Surgery)
and Li-Ming Su (JHMI graphic
Modeling:
Improving training and
planning (and paving the
way for
autonomous robotic
procedures)
From Modeling to
Simulation
S. DiMaio and S. E. Salcudean (University of British
Example Commercial
Simulators
Laparoscop Endovascula Endoscop
y r y
Immersion
Corp.
Modeling
data
recorde
Factors simplifying
algorithm
Force/
Positio
d Rendering n
haptic/
real tool-tissue model visual huma
complex
tissue display n
tool-tissue model
Developing mechanical models from Effects of material
images properties,
boundary
constraints, and
geometry
In collaboration with K. Macura
(JHMI Radiology and Radiological
Modeling enables needle
steering rotation
use tip
asymmetry
insertio
symmetri beve pre-bent
n c l
Steering
Performance
deformation
1 cm
tele-
operatio
n
In collaboration with N. Cowan and G. Chirikjian
(JHU ME), D. Song (JHMI Radiation Oncology), M.
Choti (JHMI Surgery), and K. Goldberg (UC
Rehabilitation
Robotics:
Replacing, training,
or assisting to
improve quality of
Growing Healthcare
Challenges
Maja Mataric
(USC)
Socially Assistive
Robotics
Problem: cost/population size and growth trends
Need: personalized medium to long-term care
Part of the solution: human-centered robotics
to
improve health outcomes
• Monitoring
• Coaching/training
• Motivation
• Companionship/socialization
Robotscare
health can costs
be a and
“force
improving qualitymultiplier”
of for
Maja Mataric
Movement Therapyand
Assistance
• Over 25% of U.S. population has some
functional physical limitation that affects normal
living
• 6.5M people in the US have had a stroke (by
2050, cost projected to be $2.2 Trillion)
Optimizing Movement
Therapy
In collaboration with A.
Bastian (KKI and JHU
Neurally Controlled
Prostheses
JHU Applied Physics
Safet
Safety of y industrial
robots is ensured by
keeping humans out of the
workspace.
M e dical robots
come in contact
with both patients and
clinicians/caregivers.
Approaches include:
- Low force and speed
- Risk analysis (eliminate single
PUMA Industrial
points of failure) Robot
In an ideal world,
medical robotics
• includes:
Quantitive descriptions of patient state
• Use of models to plan intervention
• Design of devices, systems, and processes
to connect information to action ( =
robotics )
• Incorporating human input in a natural
way
• Goal: improve health and quality of life
