Architecture of a surgical robot

Kazanzides, Peter; Zuhars, J.; Mittelstadt, Brent; Williamson, Bill; Cain, P.W.; Smith, Frances G.; Rose, Lowell; Musits, B.L.

doi:10.1109/icsmc.1992.271505

Cited by 24 publications

(12 citation statements)

References 4 publications

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“…Such a layered or hierarchical architecture is found in many projects (e.g., [8], [9], [10]), including commercial surgical robot systems (ROBODOC [11] and da Vinci [12]). This architecture can be also found in the general robotics domain [13], [14].…”

Section: Related Workmentioning

confidence: 99%

“…2. This hierarchical structure forms a layered architecture that has been widely used both in the robotics and the medical robotics domains [11], [13], [8], [14]. that determine the effectiveness of the safety features, and eventually the safety of the system.…”

Section: B System Viewmentioning

confidence: 99%

“…Although we found a large set of safety features, only a few are presented here due to page limitations. Visualization (e.g., display of plans, current progress) [20], [21] Force threshold checks [22], [23] Low speed or motor torque (i.e., slow motion) [24], [25] E-pause and/or E-stop [11], [26] Dynamic constraints (e.g., safety volume, virtual fixture) [27], [28] Redundant sensors (e.g., dual encoders) [29], [30] C. Examples: Safety Features of ROBODOC To illustrate how to apply SDV to an actual system, we selected a commercial robot system for orthopaedic surgery, the ROBODOC R system [31], [32], as a case study. This system has a solid set of safety features that obtained FDA approval and CE marking, and has been in clinical use since 1992.…”

Section: B Survey Of Safety Features In Medical Roboticsmentioning

confidence: 99%

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Safety Design View: A conceptual framework for systematic understanding of safety features of medical robot systems

Jung

Taylor

Kazanzides

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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A variety of medical and surgical robot systems have been developed in academia and industry and commercial products are actively used in modern operating rooms. However, there is no safety standard that specifically governs the design of medical robot systems. Despite the availability of several safety design guidelines, the absence of a basis or foundation for safety makes it difficult to describe safety designs in a systematic manner, and to share knowledge and experiences on safety with others. In the meantime, the scale and complexity of recent medical robot systems have been increasing and this further complicates the effective representation and sharing of safety designs. As an approach to this issue, we propose the Safety Design View, a conceptual framework that can capture and describe both the design-time and run-time characteristics of safety features of medical robot systems in a systematic and structured manner. To illustrate the application of the Safety Design View, we collected a set of frequently used safety features, based on our literature review of safety in the medical robotics domain, and show how we can more effectively describe and understand safety designs of medical robot systems.

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Section: Related Workmentioning

confidence: 99%

Section: B System Viewmentioning

confidence: 99%

Section: B Survey Of Safety Features In Medical Roboticsmentioning

confidence: 99%

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Safety Design View: A conceptual framework for systematic understanding of safety features of medical robot systems

Jung

Taylor

Kazanzides

2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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“…The robotic applications range from mission critical [1] to infotainment and home service tasks [2,3]. Robotic systems are expected to assist or replace their human counterparts for efficient and effective performance of all sorts of tasks such as industrial operations [6] or surgical procedures [4,5]. A robotic system is a combination of various components -hardware (for system assembling) and software (for system operations) -that must be seamlessly integrated to enable a robotic system's function as expected.…”

Section: Introductionmentioning

confidence: 99%

Software architectures for robotic systems: A systematic mapping study

Ahmad

Babar

2016

Journal of Systems and Software

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Context: Software architecture related issues are important for robotic systems. Architecture-centric development and evolution of software for robotic systems has been attracting researchers' attention for more than two decades. Objective:The objective of this work is to systematically identify, taxonomically classify and holistically map the existing solutions, research progress and trends that influence architecture-driven modeling, development and evolution of robotic software. Method:We carried out a Systematic Mapping Study (SMS) to identify and analyze the relevant literature based on 56 peer-reviewed papers. We extract and synthesize the data from selected papers to (i) taxonomically classify the existing research and (ii) systematically map the solutions, frameworks, notations and evaluation methods to highlight the role of software architecture in robotic systems. Results and Conclusions:We have identified eight distinct research themes that support architectural solutions to enable (i) operations, (ii) evolution and (iii) development specific activities of robotic software. The research in this area has progressed from object-oriented to component-based and now to servicedriven robotics representing different architectural generations. The reported solutions have exploited modeldriven, service-oriented and reverse engineering techniques since 2005. An emerging trend is cloud robotics that exploits the foundations of service-driven architectures to support an interconnected web of robots. The results of this SMS facilitate knowledge transfer -benefiting researchers and practitioners -focused on exploiting software architecture to model, develop and evolve robotic systems.

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“…Automated workflow monitoring, would allow the development of automated surgical assist systems, and could streamline the surgical process. Such a system was integrated into to the lowlevel control architecture of the ROBODOC [23], but todaymostly because of legal issues-newly developed robotic platforms rarely incorporate such level of autonomy. The use of SPMs could provide a platform, where subtask automationunder the supervision of the surgeon-could be integrated into the surgical procedure, freeing up human assistance during the surgery, eventually lowering healthcare costs.…”

Section: A Context-aware Automation and Assistancementioning

confidence: 99%

Surgical data science, an emerging field of medicine

Nagy

Rudas

Haidegger

2017

2017 IEEE 30th Neumann Colloquium (NC)

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Abstract-Computer Assisted Surgery (CAS) significantly changed the course of interventional medicine. The development of medical imaging opened up the possibility for accurate, patient specific planning, and advanced imaging techniques provided the ground for the development of real-time navigation systems. The advancement of minimally invasive surgical techniques and tools required increasing manuality from the surgeon, which facilitated the development of tele-robotic manipulation. These systems provide a vast amount of objective inta-operative data, thus many believe that the next step could be big data analysis for creating and evaluating surgical process models. This emerging field of medicine, called Surgical Data Science, has the potential to improve intervetional medicine with objective statistical analysis, and therefore to provide better patient outcomes and a reduction in healthcare costs.

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Architecture of a surgical robot

Cited by 24 publications

References 4 publications

Safety Design View: A conceptual framework for systematic understanding of safety features of medical robot systems

Safety Design View: A conceptual framework for systematic understanding of safety features of medical robot systems

Software architectures for robotic systems: A systematic mapping study

Surgical data science, an emerging field of medicine

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