OP:Sense &amp;#x2014; An integrated rapid development environment in the context of robot assisted surgery and operation room sensing

Nicolai, Philip; Beyl, Tim; Mönnich, Holger; Raczkowsky, Jörg; Wörn, Heinz

doi:10.1109/robio.2011.6181667

Cited by 5 publications

(6 citation statements)

References 1 publication

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“…Fig.3 shows the concept of the proposed system architecture. The action component is "implemented" by the KUKA LWR and the augmented reality system Probaris [14]. The perception component is implemented by supervising cameras (PMD, Kinect, stereo cameras of the augment reality system), optical tracking systems (NDI Polaris, ART), force torque sensors of the robots and haptic sensors [12] at the end-effectors.…”

Section: Knowledge-based Closed-loop Control -Cognitive Systemmentioning

confidence: 99%

“…The basic patient model also consists of several surface models of the abdomen with the insufflated abdominal cavity (pneumoperitoneum), varying in height of the abdominal wall. Intraoperatively the patient is scanned by the augmented reality system Probaris [14]. Preoperative planning, e.g.…”

Section: Patient Modelmentioning

confidence: 99%

“…used for controlling the redundant joint of the LWR for collision avoidance. The approach is described in [13] [14].…”

Section: Environment Modelmentioning

confidence: 99%

See 2 more Smart Citations

Towards Cognitive Medical Robotics in Minimal Invasive Surgery

Weede

Bihlmaier

Hutzl

et al. 2013

Proceedings of Conference on Advances in Robotics

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Up to date, medical robots for minimal invasive surgery do not provide assistance appropriate to the workflow of the intervention. A simple concept of a cognitive system is presented, which is derived from a classic closed-loop control. As implementation, we present a cognitive medical robot system using lightweight robots with redundant kinematics. The robot system includes several control modes and human-machine interfaces. We focus on describing knowledge acquisition about the workflow of an intervention and present two example applications utilizing the acquired knowledge: autonomous camera guidance and planning of minimal invasive port (trocar) positions in combination with an initial robot setup. Port planning is described as optimization problem. The autonomous camera system includes a mid-term movement prediction of the ongoing intervention. The cognitive approach to a medical robot system includes taking the environment into account. The goal is to create a system that acts as a human assistant, who perceives the situation, understands the context based on his knowledge and acts appropriate.

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Section: Knowledge-based Closed-loop Control -Cognitive Systemmentioning

confidence: 99%

Section: Patient Modelmentioning

confidence: 99%

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Towards Cognitive Medical Robotics in Minimal Invasive Surgery

Weede

Bihlmaier

Hutzl

et al. 2013

Proceedings of Conference on Advances in Robotics

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“…The marker-based tracking system ARTtrack2 (ART, Germany) is used for calibration purposes and accurate tracking of marker equipped objects. Our supervision system is developed in the context of OP:Sense [18,21], which is mainly dedicated to safe and intuitive workflow controlled human robot interaction in the operating room [2] as well as exploring new applications for the operation. OP:Sense is based on ROS [24].…”

Section: Introductionmentioning

confidence: 99%

Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room

et al. 2015

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Background Scene supervision is a major tool to make medical robots safer and more intuitive. The paper shows an approach to efficiently use 3D cameras within the surgical operating room to enable for safe human robot interaction and action perception. Additionally the presented approach aims to make 3D camera-based scene supervision more reliable and accurate. Methods A camera system composed of multiple Kinect and time-of-flight cameras has been designed, implemented and calibrated. Calibration and object detection as well as people tracking methods have been designed and evaluated. Results The camera system shows a good registration accuracy of 0.05 m. The tracking of humans is reliable and accurate and has been evaluated in an experimental setup using operating clothing. The robot detection shows an error of around 0.04 m. Conclusions The robustness and accuracy of the approach allow for an integration into modern operating room. The data output can be used directly for situation and workflow detection as well as collision avoidance.

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“…Additionally four Microsoft Kinect cameras are used that offer larger resolution having the drawback of more latency introduced into the processing chain. Our supervision system is developed in the context of OP:Sense [11] which is mainly dedicated to safe and intuitive workflow controlled human robot interaction in the operating room as well as exploring new applications for the operation and has recently been ported to ROS [12] and OROCOS [13] The following article describes how we tackled the processing of the high amount of data coming from the Kinect cameras, registration issues between the cameras and describes our approach to find corresponding users in the camera's field 978-1-4799-2722-7/13/$31.00 c 2013 IEEE of view. Finally an approach to detect robots in the scene and a CUDA [14] based distance calculation for point clouds is described.…”

Section: Introductionmentioning

confidence: 99%

Multi kinect people detection for intuitive and safe human robot cooperation in the operating room

Beyl

Nicolai

Raczkowsky

et al. 2013

2013 16th International Conference on Advanced Robotics (ICAR)

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Microsoft Kinect cameras are widely used in robotics. The cameras can be mounted either to the robot itself (in case of mobile robotics) or can be placed where they have a good view on robots and/or humans. The use of cameras in the surgical operating room adds additional complexity in placing the cameras and adds the necessity of coping with a highly uncontrolled environment with occlusions and unknown objects. In this paper we present an approach that accurately detects humans using multiple Kinect cameras. Experiments were performed to show that our approach is robust to interference, noise and occlusions. It provides a good detection and identification rate of the user which is crucial for safe human robot cooperation

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OP:Sense — An integrated rapid development environment in the context of robot assisted surgery and operation room sensing

Cited by 5 publications

References 1 publication

Towards Cognitive Medical Robotics in Minimal Invasive Surgery

Towards Cognitive Medical Robotics in Minimal Invasive Surgery

Time-of-flight-assisted Kinect camera-based people detection for intuitive human robot cooperation in the surgical operating room

Multi kinect people detection for intuitive and safe human robot cooperation in the operating room

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