Virtual Reality for Tele-Robotics in Minimally Invasive Surgery

pressdeadmancrossingΤεχνίτη Νοημοσύνη και Ρομποτική

14 Νοε 2013 (πριν από 3 χρόνια και 6 μήνες)

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Virtual Reality for Tele-Robotics in
Minimally Invasive Surgery
Emilio Ruiz
(EC-JRC), Alfonso Labruzzo
(SOFAR)
Stefano Pomati, Andrea D’Ambrosio, Fabio Giorgi, Raul Blanco, Damien Brasset
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An example of
An example of
tele
tele
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robotics system:
robotics system:
ALF
ALF
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-
X
X
(
(“
A
Advanced
L
Laparoscopy through
F
Force-
Refle
CT(X)
CT(X)ion”)
Ffulcru
m
Fcontact
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Main features of the ALF-X system
•1. Remote Tactile Sensing
•2. Ease of use
•3. High degree of Versatility
•4. Safety
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Uses of Virtual Reality:
Uses of Virtual Reality:
Rendering for evaluating the look of the system
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Uses of Virtual Reality:
Uses of Virtual Reality:
Rendering for evaluating the integration of the
system in the OR
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Uses of Virtual Reality:
Uses of Virtual Reality:
MOVIE
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Uses of Virtual Reality:
Uses of Virtual Reality:
Real time monitoring of the robotics system
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Uses of Virtual Reality:
Uses of Virtual Reality:
Real time monitoring of the robotics system
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Uses of Virtual Reality:
Uses of Virtual Reality:
Real time monitoring of the robotics system
Laser scanner
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Uses of Virtual Reality:
Uses of Virtual Reality:
-
Pre-operative tool for planning the installation of the
robotics system
-Real time monitoring of the robotics system
-Also useful as training
and demonstration tool
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Virtual Reality vs. Robotics:
Virtual Reality vs. Robotics:
OBJECTIVE: overlay real views and VR models
Potential Advantages
:
-improved efficiency, safety and intervention quality
Problems
:
-matching 3D models with real configuration
of internal structures
-overlay endoscope view together with adapted 3D
models
-reach high accuracy in organs modeling and in the
overlay process (<1..5mm)
-real-time overlay with a delay < 60msec
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Virtual Reality vs. Robotics:
Virtual Reality vs. Robotics:
potential use of robot manipulators for
positioning ultrasound probes and carry out
scanning functions
+ robot manipulator for handling endoscope
and to know the geometrical transformations
required in the overlay process
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Virtual Reality vs. Robotics:
Virtual Reality vs. Robotics:
potential use of tele-robotics tactile capability
to identify landmarks that are used to calibrate
3D models
Calibrated VR models may be used to
constrain the surgeon through the tele-operated
robotics device
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THANK YOU FOR YOUR ATTENTION!
THANK YOU FOR YOUR ATTENTION!