Medical Robotics: An Overview3 CategoriesBioroboticsExample Biorobotic System: DDXDisease Detector 3 (DD3)Other BiorobotsOther Biorobots (Cont’d)Rehabilitation RoboticsMoVAR (1983-1988)Slide 10Computer-Aided Locomotion by Implanted Electro-Stimulation (CALIES)Robotics for SurgeryA DefinitionRobots: One Aspect of an Integrated SystemBenefitsTimelineTimeline (cont’d)Slide 18Slide 19Robot TriviaSlide 21“Robotic Surgery”: How it differs from “Computer-Assisted Surgery” (CAS)?Benefits of “Computer-Assisted Surgery”Robotic Surgery: Current Applications2 Main Types of Robotics for SurgeryMARS: A Bone-Mounted Miniature Robot [Shoham et al, 2003]Slide 27Slide 28MARS: A Bone-Mounted Miniature RobotImage-Guided CASImage-Guided CAS: Instrument and Position TrackingImage-Guided CAS: Instrument and Position Tracking (Cont’d)Slide 33Image-Guided CAS: Registration of Pre-Operatively Obtained ImagesImage-Guided CASImage-Guided CAS: Registration (Cont’d)Slide 37Slide 38Da Vinci System in ActionSummarySome Current Opportunities in Medical Robotics ResearchReferencesMedical Robotics: An OverviewJennifer Brooksfor Comp 790-072, Robotics: An Introductionat University of North Carolina, Chapel HillNovember 9, 20063 CategoriesBioroboticsRehabilitation RoboticsRobotics for Surgery–Autonomous Robots–Computer Assisted SurgeryBioroboticsModeling and simulating biological systems in order to provide a better understanding of human physiology–For example, haptics research to provide force-feedback in master-slave systemsMay also lead to a number of practical applications for the substitution of organs and/or functions of humans–Examples:bionic limb prosthesis hearing aids and other aids targeted at neuromotor recoverythe possibility of inserting brain chips implanting microscopic activators in the heart to pump blooddata and image acquisition microsystems for artificial sight microchips to detect sound and to substitute the auditory nerveMay be used to aid in investigation of diseases or other health-related ailments–Examples inch-worm robot developed in Singapore for colon explorationintestinal bug developed in the Nanorobotics lab at CMUExample Biorobotic System: DDX[Rovetta, 2001]DDX is an experimental biorobotic system designed to acquire and provide data about human finger movement, applied in analysis of neural disturbances with quantitative evaluation of both response times and dynamic action of the patient. The goal is to measure the response parameters of a person in front of a “soft touch”, made by his finger in front of a button.It is now applied in daily clinical activity to diagnose the progression of the Parkinson pathology.Disease Detector 3 (DD3)[Rovetta, 2001]A fuzzy-based control system for detection of Parkinson diseaseMay be used remotely to monitor a patient’s health at his or her homePatient pushes button on a joystick; system measures response time, speed, fingertip pressure, and tremorVirtual Movement: on a display, the patient is asked to follow a virtual image relating to each moment of the test. Again, system measures response time, speed, fingertip pressure, and tremor from the press of a button and grip on a joystick.Other BiorobotsBiomechanics of Voice ProductionGoal is to address questions regarding the etiology and treatment of common voice pathologies. http://biorobotics.harvard.edu/research/heather.htmlA Retina-Like CMOS Sensor for visionImage from [Sadini et al, 2000] Above: Medical Telediagnostic System withTactile Haptic InterfacesImage from [Methil-Sudhakaran et al, 2005]Six-legged “Intestinal Bug” with swallowable camera to allow docs to see inside the intestine.Image from http://www.post-gazette.com, May 2005 Article in Health, Science, and EnvironmentMetin Sitti, director of CMU's Nanorobotics LabOther Biorobots (Cont’d)A scheme of a fingertip incorporating three different types of sensors which provide information on object geometry and material features comparable to those of the human fingertip.A close-up of one of the sensors (a 256-element array sensor), which imitates the space-variant distribution of tactile receptors in the fingertip skin.Image from [Dario et al, 1996]Rehabilitation RoboticsRobotics systems for hospitals–HelpMates–MELKONGManipulators in rehabilitation–Wheelchair-mounted arms–MoVAR: the Mobile Vocational Assistant–URMAD: a mobile base that responds to a fixed workstation, mainly devised for residential applications“Intelligent” wheelchairs–self-navigating wheelchairs with sensors enabling them to avoid obstaclesDaily life home assistance–MOVAID: a mobile base which fits into different activity workstations, built on URMAD technologyAdvanced prosthesis and orthosisFunctional Electric Simulation (FES)–Computer-Aided Locomotion by Implanted Electro-Stimulation (CALIES)Virtual environments for training and rehabilitative therapiesMoVAR (1983-1988)Unique and patented 3-wheeled omni-directional base Mounted PUMA-250 arm with camera to display robot’s activities and surroundings to user console Desk-high and narrow enough to go through interior doorways. Wireless digital link for receiving commands and sending position and status information. Bumper-mounted touch sensor system for obstacle avoidance Wrist-mounted force sensor and gripper-mounted proximity sensors to assist in manipulation The robot console had three monitors: graphic robot motion planning, robot status, and camera view. It had keyboard, voice, and head-motion inputs for command and cursor control, and voice output. Funding for it terminated in 1988. The hardware and software were transferred to the Intelligent Mechanisms Group at the NASA Ames Research Center (Mountain View, CA) for use in the development of real-time controllers and stereo-based user interfaces for semi-autonomous planetary rovers.Image from [Dario, 1996]URMADComputer-Aided Locomotion by Implanted Electro-Stimulation (CALIES)Probably the most important coordinated effort in the world for restoring autonomous locomotion in paralyzed persons [Dario, 1996]Investigated the possibility of implanting electrodes into lower limb muscles, or nerves, which could be stimulated via an external computer to produce close to natural walkingRobotics for SurgeryA DefinitionRobot - “A reprogrammable multifunctional manipulator, designed to move