Robotic touchless interaction in surgery

手术中的机器人非接触式交互

• 批准号: 485412-2015
• 负责人: VanderLoos, Hendrik
• 金额: $ 1.82万
• 依托单位: University of British Columbia
• 依托单位国家: 加拿大
• 项目类别: Engage Grants Program
• 财政年份: 2015
• 资助国家: 加拿大
• 起止时间: 2015-01-01 至 2016-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=584934
• 关键词: Robotic; touchless; interaction; surgery

Interventional radiologists are required to view and manipulate (zoom, scroll, pan, etc.) radiological images during operations. Currently, this must be done by either a) scrubbing out of a case to enter the control room or b) verbally directing a technologist to operate the workstation. These current methods cause two issues: 1) scrubbing in and out of the sterile field increases the risk of intra-operative infections, and 2) task delegation removes the radiologist's direct control of the images and negatively affects OR workflow. NZ Technologies Inc. (NZT) has been developing a novel medical device, called 'Touchless Interaction with Picture and Archiving Communication Systems (PACS) in Sterile Operations' (TIPSO). TIPSO employs real-time optical 3D sensing of the environment to enable radiologists to manipulate the images by using hand gestures and motions in a fully sterile manner - directly from the OR. An adaptive light projection module enables radiologists to intuitively interact with a 'virtual tactile' menu on the surgery bed. NZT proposes to mount TIPSO on the end-effector of a robotic manipulator -greatly increasing TIPSO's ability to provide a seamless human-machine interface in the sterile field. This Grant will investigate and simulate the application of a robotic manipulator to carry a TIPSO device - moving wherever a surgeon requires, blending in with the OR's workflow, and avoiding collisions with other OR equipment. The project will investigate simulation, control, and trajectory planning aspects of the robotic manipulator - for a completely touchless solution. Within a simulation environment, a smooth feedback control system, a collision-avoidance algorithm, and a unique visual servoing technique will be designed, developed, and verified. This research will enable NZT to buy an appropriate robotic arm and begin deployment in an OR environment. The technology developed, as the result of this project, will replace conventional methods for image viewing and manipulation during minimally invasive surgeries in the OR. This solution provides a simple, intuitive, and ergonomic interaction capability to the surgeon - removing sources of intra-operative infections and allowing shorter surgeries.

介入放射科医生需要查看和操作(缩放、滚动、平移等)。放射影像 在手术过程中。目前，必须通过a)从箱子中擦出进入控制室或 B)口头指导技术人员操作工作站。这些当前的方法导致两个问题：1) 进入和离开无菌区域会增加手术中感染的风险，以及2)任务分配 取消放射科医生对图像的直接控制，并对OR工作流程产生负面影响。新西兰科技公司 Inc.(NZT)一直在开发一种新的医疗设备，名为与Picture和 《无菌手术中的档案通讯系统》(Tipso)Tipso采用了实时光学 环境的3D传感，使放射科医生能够使用手势和 以完全无菌的方式提出动议--直接来自手术室。一种自适应投光模块，使得 放射科医生可以直观地与手术床上的“虚拟触觉”菜单进行交互。NZT建议安装 Tipso在机器人操作手的末端执行器上-极大地提高了Tipso提供无缝连接的能力 无菌场地中的人机界面。本授权书将调查和模拟一种 携带Tipso设备的机器人操作器--在外科医生需要的任何地方移动，与手术室的设备融为一体 工作流程，并避免与其他OR设备发生碰撞。该项目将研究模拟、控制、 以及机器人机械手的轨迹规划方面--实现完全非接触的解决方案。在一个 仿真环境，流畅的反馈控制系统，避免碰撞的算法，以及独特的 视觉伺服技术将被设计、开发和验证。这项研究将使NZT能够购买 适当的机械臂，并开始在作战环境中部署。技术的发展，结果就是 将取代传统的图像查看和处理方法，在最低限度 手术室里的侵入性手术。该解决方案提供了简单、直观且符合人体工程学的交互功能 外科医生--清除手术中的感染源，并允许较短的手术时间。