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Risk analysis for a reliable and safe surgical robot system

International Congress Series 2003年第C期1256卷 766-770页

作者： Korb, W. Engel, D. Boesecke, R. Eggers, G. Marmulla, R. Raczkowsky, J. Hassfeld, S. Department of Maxillofacial and Craniofacial Surgery Ruprecht Karls University Heidelberg Germany Institute of Process Control and Robotics University of Karlsruhe Karlsruhe Germany

This paper shows the basic methods of quality assurance and risk analysis. It is particularly intended for researchers in the clinical field who have to implement safe systems with minimal resources and staff. The methods were applied to the robot system RobaCKa for craniotomies. Since surgical robots are complex mechatronic systems, it is important to apply systematic approaches for fault-free design, error detection and quality assurance. In universities and research centers, it is not often possible to apply the same measures for software design and error analysis as what is usually required for suppliers of medical products. Nevertheless, it is necessary to maintain basic regulations particularly for in vivo studies and clinical investigations. It makes sense to apply quality management right in the very beginning of a project, which would facilitate the its possible transformation into a commercial product later. © 2003, Elsevier B.V. All rights reserved.

关键词： Fault tree analysis Risk analysis Software design Surgical robot

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Development of a flexible tactile sensor system for a humanoid robot

Development of a flexible tactile sensor system for a humano...

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IEEE International Workshop on Intelligent Robots and Systems (IROS)

作者： O. Kerpa K. Weiss H. Worn Institute of Process Control & Robotics University of Karlsruhe Karlsruhe Germany

The application of robots in the same workspace with humans results, intended or unintended, in direct mechanical interaction. This requires additional sensory abilities of the robots. Besides sensor systems that help the robots to structure their environment, like cameras, radar sensors, etc., a sensor system on the robot's surface is needed that is able to detect mechanical contacts of the robot with its environment. Because of shadings it is not possible to exclude potential collisions in spite of the "structuring" sensor systems. Therefore a tactile sensor system is essential for reasons of security but also as support of the robot control system and additional communication channel. In this paper we propose the requirements to such a system related to its application on an autonomous humanoid robot. According to these postulated requirements a prototypal system was built and integrated in an existing experimental setup which consists of a redundant robot arm with 7 degrees of freedom in a human-similar kinematics. The sensor and its technical specifications as well as the experimental setup are described in the second part of this paper.

关键词： Tactile sensors Humanoid robots Robot sensing systems Sensor systems Human robot interaction Robot vision systems Cameras Mechanical sensors Radar detection Communication system security

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Location decision for a robot milling complex trajectories in craniofacial surgery

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International Congress Series 2003年第C期1256卷 760-765页

作者： Engel, D. Korb, W. Raczkowsky, J. Hassfeld, S. Woern, H. Institute for Process Control Robotics Universitaet Karlsruhe (TH) Kaiserstrasse 12 76128 Karlsruhe Germany Department of Maxillofacial Craniofacial Surgery University of Heidelberg Im Neuenheimer Feld 400 69120 Heidelberg Germany

The aim of the surgical robot system RobaCKa is to support the surgeon manipulating (drill, mill, saw) the skull bone. In particular, we intend to assist the surgeon in craniofacial surgery who carries out bone repositionings close to vital parts and which changes the later patient appearance in a high degree. Since the complexity of the trajectories, the workspace within the resultant robot path that can be performed is very restricted. This paper presents an algorithm, which provides the possibility to preoperatively determine the best alignment of robot and patient. © 2003, Elsevier Science B.V. and CARS. All rights reserved.

关键词： Location decision Planning Surgical robot

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Efficient assembly sequence planning using stereographical projections of C-space obstacles

Efficient assembly sequence planning using stereographical p...

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IEEE International Symposium on Assembly and Manufacturing (ISAM)

作者： U. Thomas M. Barrenscheen F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

This paper presents a new assembly planner, which is based on stereographical projections of C-Space obstacles. The assembly planner applies the well-known assembly-by-disassembly strategy. The complete geometric feasible AND/OR-graph is built. For testing separability a new very fast approach has been implemented with the advantage of direct hardware support. The entire AND/OR-graph is valuated with respect to two criteria: separability and parallelism. We have generated example assembly plans for realistic industrial assemblies, which are modelled with more than two thousand triangles. Despite the fact of high model complexity, we can achieve reasonable computation times.

关键词： Robotic assembly Assembly systems robotics and automation Testing Service robots process control Parallel processing Computer industry Costs Manufacturing processes

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Error-tolerant execution of complex robot tasks based on skill primitives

Error-tolerant execution of complex robot tasks based on ski...

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IEEE International Conference on robotics and Automation (ICRA)

作者： U. Thomas B. Finkemeyer T. Kroger F.M. Wahl Institute for Robotics and Process Control Technical University of Braunschweig Brunswick Germany

This paper presents a general approach to specify and execute complex robot tasks considering uncertain environments. Robot tasks are defined by a precise definition of so-called skill primitive nets, which are based on Mason's hybrid force/velocity and position control concept, but it is not limited to force/velocity and position control. Two examples are given to illustrate the formally defined skill primitive nets. We evaluated the controller and the trajectory planner by several experiments. Skill primitives suite very well as interface to robot control systems. The presented hybrid control approach provides a modular, flexible, and robust system; stability is guaranteed, particularly at transitions of two skill primitives. With the interface explained here, the results of compliance motion planning become possible to be examined in real work cells. We have implemented an algorithm to search for mating directions in up to three-dimensional configuration-spaces. Thereby, on one hand we have released compliant motion control concepts and on the other hand we can provide solutions for fine motion and assembly planning. This paper shows, how these two fields can be combined by the general concept of skill primitive nets introduced here, in order to establish a powerful system, which is able to automatically execute prior calculated assembly plans based on CAD-data in uncertain environments.

关键词： robotics and automation Robotic assembly Assembly systems Robot programming Robot sensing systems Position control control systems Robot control Robust stability Motion planning

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Stereoscopic augmented reality for operating microscopes

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International Congress Series 2003年第C期1256卷 408-413页

作者： Aschke, M. Wirtz, C.R. Raczkowsky, J. Wörn, H. Kunze, S. Institute for Process Control and Robotics Universität Karlsruhe (TH) 76131 Karlsruhe Engler-Bunte-Ring 8 Germany Department of Neurosurgery Universität Heidelberg 69120 Heidelberg Im Neuenheimer Feld 400 Germany

Three-dimensional overlay of objects onto the operating field has big advantages compared to current commercial approaches. There are several problems which can be solved by providing a full color stereoscopic overlay to the surgeon, orienting himself by looking away from the operating field onto a navigation monitor as well as merging the overlaid two-dimensional contours of an object correctly to a three-dimensional structure. This paper introduces a conceptual approach for a full color, stereoscopic overlay of objects onto the operating field using the optics of the operating microscope. Models segmented from preoperatively acquired image data are inserted into the optics of the operating microscope. We use the virtual camera approach to provide the collimation. In the scope of developing a prototype for image overlay, we analyzed current display technologies to determine the best display technique to use. We will present the general process model for our approach, the visualization concept using the virtual camera model, the current workflow, the prototype and a brain phantom which we developed for our needs. The work is supported by the Deutsche Forschungsgemeinschaft (DFG) as a part of the Priority Programme 1124: “Medical Navigation and robotics”. © 2003 Elsevier Science B.V. and CARS

关键词： Augmented reality Brain phantom Calibration Operating microscope

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Elastic deformation for automated planning of surgical interventions

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International Congress Series 2003年第C期1256卷 752-759页

作者： Schorr, O. Roessler, F. Raczkowsky, J. Hassfeld, S. Wörn, H. Institute for Process Control Robotics University of Karlsruhe (TH) Engler-Bunte-Ring 8 76131 Karlsruhe Germany Department of Oral Maxillofacial Surgery University of Heidelberg Im Neuenheimer Feld 400 69120 Heidelberg Germany

In the frame of the collaborative research centre “Computer and Sensor Aided Surgery” (SFB 414), we developed a planning environment called “KasOp”, which supports the surgeon to define osteotomies in cranio–maxillo-facial surgery. However, planning of surgical interventions still requires a lot of user interaction in order to precisely define cutting trajectories. The presented approach in this paper uses rigid and elastic deformation of polygonal surfaces in order to align pathologically shaped patient bone surfaces and predefined reference bone surfaces of a physiological data set of same age and sex. By doing this, we are able to transfer a trajectory predefined on the physiological data set onto the patient without any user interaction. This speeds up the planning process, as the surgeon simply needs to modify a preplanned trajectory instead of creating a new one. Moreover, the surgeon receives an impression of how the patient should look like, and regions with the largest deviations to the physiological shape can be identified. © 2003, Elsevier Science B.V. and CARS. All rights reserved.

关键词： Automated planning Elastic deformation Registration Surgical planning

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Multi-agent systems for industrial diagnostics 5

Multi-agent systems for industrial diagnostics

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5th IFAC Symposium on Fault Detection, Supervision and Safety of Technical processes, Safeprocess 2003

作者： Albert, Martin Längle, Thomas Wörn, Heinz Capobianco, Michele Brighenti, Attilio Institute for Process Control and Robotics University of Karlsruhe KarlsruheD-76128 Germany S.A.T.E Srl. Systems and Advanced Technologies Engineering S.r.l Santa Croce 664/a 30135 Germany

Industrial diagnostic systems aim at anticipating the occurrence of failures or, should failures have occurred, at detecting them and identifying their cause. Similar to a process control system, a diagnostic system is closely connected with a specific industrial application. In case of large and complex industrial systems, such intimate link translates into the need to satisfy requirements for modularity, flexibility, and adaptability. This paper introduces a multi-agent software architecture as a possible solution to better tackle the variety of problems connected with building diagnostic systems, based at the requirements connected with modem industrial applications. © 2003 International Federation of Automatic control.

关键词： Multi agent systems

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Augmented reality in operating microscopes for neurosurgical interventions

Augmented reality in operating microscopes for neurosurgical...

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International IEEE/EMBS Conference on Neural Engineering, CNE

作者： M. Aschke C.R. Wirtz J. Raczkowsky H. Worn S. Kunze Institute for Process Control and Robotics Universität Karlsruhe Germany Department of Neurosurgery Universität Heidelberg Germany

Currently, there are no commercial systems available which provide the surgeon with a real three dimensional, stereoscopic overlay of the operating field in an operating microscope. We introduce a concept for a stereoscopic overlay of the operating field using the optics of the operating microscope. Preoperatively achieved data are inserted into the optics of the operating microscope. The goal is to enhance the surgeon's ability for a better intraoperative orientation by giving him the three-dimensional information he needs. To achieve this we developed a concept using virtual cameras for the collimation. We also analyzed current display technologies to determine the best technology which meets our demands. Another advantage of this approach is to prevent the surgeon from the need to take his view from the operating field towards the screen of the navigation system and back. We propose a general process model, a prototype for injecting images into the operating microscope and a visualization concept. In the frame of this work a brain phantom used as trial object for our prototype is developed. The work is supported by the Deutsche Forschungsgemeinschaft (DFG), as a part of the Priority Programme 1124: "Medical Navigation and robotics".

关键词： Augmented reality Neurosurgery Surges Biomedical optical imaging Optical microscopy Navigation Prototypes Cameras Optical collimators Displays

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Creating high quality models of the skull using iterative modelling and area of interests

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International Congress Series 2003年第C期1256卷 747-751页

作者： Däuber, S. Eggers, G. Krempien, R. Mende, U. Welzel, T. Hassfeld, St. Wörn, H. Institute for Process Control Robotics University of Karlsruhe (TH) Kaiserstraße 12 76128 Karlsruhe Germany Department of Oral Maxillofacial Surgery University of Heidelberg Im Neuenheimer Feld 400 69120 Heidelberg Germany Department of Clinical Radiology University of Heidelberg Im Neuenheimer Feld 400 69120 Heidelberg Germany

Three-dimensional models of the patient's anatomy are the basis for modern applications in computer-assisted surgery or radiology. In order to create these models, the data are processed in a series of steps that transforms the initial raw data (CT/MRT volume images) into the three-dimensional models (triangle meshes). Most common processing includes segmentation, contouring, decimating and mesh relaxation. Especially decimating and mesh relaxation can strongly effect the accuracy of the models, however, these steps are necessary to ensure interactivity (low amount of triangles for visualization speed) and to reduce staircase artefacts (due to the rectangular voxels of the underlying CT-data). In this work, we show that an iterative and alternating decimating and mesh relaxation can produce more accurate models than the usual single step processing. We also present an Area-of-Interest (AOI)-concept, with which we can achieve further improvements of the models in critical areas, e.g. near the intervention situs. © 2003, Elsevier Science B.V. All rights reserved.

关键词： Mesh optimization Mesh processing Mesh simplification Mesh smoothing

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