Paper Info
Title
Towards Cognitive Medical Robotics in Minimal Invasive Surgery
Abstract
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.
Year
DOI
Venue
2013
10.1145/2506095.2506137
AIR
Keywords
Field
DocType
medical robot system,initial robot setup,cognitive medical robot system,acquired knowledge,cognitive approach,lightweight robot,robot system,cognitive system,towards cognitive medical robotics,medical robot,minimal invasive surgery,autonomous camera system,autonomous systems
Kinematics,Computer science,Medical robot,Autonomous system (Internet),Robot,Surgery,Cognition,Workflow,Optimization problem,Knowledge acquisition
Conference
Citations 
PageRank 
References 
6
0.68
6
Authors
5
Name
Order
Citations
PageRank
Oliver Weede1325.31
Andreas Bihlmaier2174.78
Jessica Hutzl360.68
Beat P. Müller-Stich4138.27
Heinz Wörn5491106.92