On the Fly Robotic-Assisted Medical Instrument Planning and Execution Using Mixed Reality
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866916446948294656 |
|---|---|
| author | Ai, Letian Liu, Yihao Armand, Mehran Kheradmand, Amir Martin-Gomez, Alejandro |
| author_facet | Ai, Letian Liu, Yihao Armand, Mehran Kheradmand, Amir Martin-Gomez, Alejandro |
| contents | Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including medical scene monitoring, anatomical target planning, and robot manipulation. However, despite its versatility and effectiveness, RAMS demands expertise in robotics, leading to a high learning cost for the operator. In this work, we introduce a novel framework using mixed reality technologies to ease the use of RAMS. The proposed framework achieves real-time planning and execution of medical instruments by providing 3D anatomical image overlay, human-robot collision detection, and robot programming interface. These features, integrated with an easy-to-use calibration method for head-mounted display, improve the effectiveness of human-robot interactions. To assess the feasibility of the framework, two medical applications are presented in this work: 1) coil placement during transcranial magnetic stimulation and 2) drill and injector device positioning during femoroplasty. Results from these use cases demonstrate its potential to extend to a wider range of medical scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2404_05887 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | On the Fly Robotic-Assisted Medical Instrument Planning and Execution Using Mixed Reality Ai, Letian Liu, Yihao Armand, Mehran Kheradmand, Amir Martin-Gomez, Alejandro Robotics Robotic-assisted medical systems (RAMS) have gained significant attention for their advantages in alleviating surgeons' fatigue and improving patients' outcomes. These systems comprise a range of human-computer interactions, including medical scene monitoring, anatomical target planning, and robot manipulation. However, despite its versatility and effectiveness, RAMS demands expertise in robotics, leading to a high learning cost for the operator. In this work, we introduce a novel framework using mixed reality technologies to ease the use of RAMS. The proposed framework achieves real-time planning and execution of medical instruments by providing 3D anatomical image overlay, human-robot collision detection, and robot programming interface. These features, integrated with an easy-to-use calibration method for head-mounted display, improve the effectiveness of human-robot interactions. To assess the feasibility of the framework, two medical applications are presented in this work: 1) coil placement during transcranial magnetic stimulation and 2) drill and injector device positioning during femoroplasty. Results from these use cases demonstrate its potential to extend to a wider range of medical scenarios. |
| title | On the Fly Robotic-Assisted Medical Instrument Planning and Execution Using Mixed Reality |
| topic | Robotics |
| url | https://arxiv.org/abs/2404.05887 |