COMPUTER VISION AND ROBOTICS IN PERIOPERATIVE PROCESS

by Yi Xu, Huan Tan, Ying Mao, Lynn-ann Derose

Overview

This invaluable compendium highlights the challenges of perioperative process in hospitals today. It delves into the development of a multi-agent robotic system where a dirty-side robot that sorts instruments returned from a surgical room into different containers for easy scrubbing, a Traybot that navigates the environment and transports the instrument containers to different stations, a clean-side robot that picks up instruments and places them in surgical kits, and an orchestration software architecture that manages the cooperation between different robots.The book discusses the technical details of all the components, from system architecture to the details of the end-effector design. Readers will gain significant knowledge on how such a system was put together.Related Link(s)

Product Details

ISBN-13:	9789813233300
Publisher:	World Scientific Publishing Company, Incorporated
Publication date:	04/10/2018
Series:	SERIES IN COMPUTER VISION , #5
Sold by:	Barnes & Noble
Format:	eBook
Pages:	120
File size:	7 MB

Table of Contents

Preface v

Acknowledgments vii

List of Figures xiii

List of Tables xvii

1 Automating the Perioperative Process 1

1.1 Background 1

1.2 Current Perioperative Process 2

1.3 Our Goal 3

1.3.1 Increased Safety 3

1.3.2 Improved Throughput 3

1.3.3 Enhanced Care Quality 3

1.4 Our Approach 3

1.4.1 Move Dirty Instrument to Sorting Table - Step 1 4

1.4.2 Sort the Instruments - Step 2 6

1.4.3 Move Sorted Instruments to Cleaner - Step 3 6

1.4.4 Wash and Disinfect Instruments - Step 4 & 5 7

1.4.5 Move Cleaned Instruments to Kit Building Table - Step 6 7

1.4.6 Build Surgical Kits - Step 7 7

1.4.7 Sterilization - Step 8 7

1.5 Organization of the Rest of the Book 8

2 Human-Supervisory Distributed Robotic System Architecture 11

2.1 Introduction 11

2.2 Related Work 12

2.3 Multi-Agent Software Architecture 12

2.3.1 Overall Robotic System Architecture 13

2.3.2 Individual Robotic System Architecture 14

2.4 Example of Implementation 16

2.4.1 Implemented Overall System Architecture 17

2.4.2 Implemented Individual Robotic Architectures 18

2.5 Experimental Setup 19

2.6 Summary and Future Work 24

3 TrayBot: Transporting Surgical Tools in Hospitals 25

3.1 Introduction 25

3.2 Related Work 26

3.3 Hardware Component Design 27

3.4 Integrated System Design 29

3.4.1 System Overview 29

3.4.2 Task Planning 31

3.4.3 Navigation and Localization 32

3.4.4 Vision-based Manipulator Control 33

3.5 Experimental Setup and Results 36

3.5.1 Success Rate 36

3.5.2 Angle Tolerance of the Gripper 38

3.6 Conclusion and Future Work 39

4 Vision-based Instrument Singulation 41

4.1 Introduction 41

4.2 Related Work 42

4.3 Vision-based Surgical Instrument Singulation 44

4.3.1 Surgical Instrument Identification 44

4.3.2 Localization and Pose Estimation 45

4.3.3 Occlusion Reasoning 46

4.3.4 Optimal Picking Location 50

4.4 Experiments 50

4.5 Conclusion and Discussion 51

5 Instrument Sorting Robots 53

5.1 Introduction 53

5.2 Related Work 54

5.3 Our Compliant End Effector Design 55

5.4 Dirty Side Sorter 57

5.4.1 System Architecture 58

5.4.2 Major System Components 59

5.5 Clean Side Kit-Builder 63

5.6 Experiments 63

5.6.1 Experiments on Dirty Side 63

5.6.2 Experiments on Clean Side 66

5.7 Conclusions and Discussions 67

6 Safe Robot-Human Collaboration 69

6.1 Introduction 69

6.2 Related Work 70

6.3 Methodology 71

6.3.1 Perception 72

6.3.2 Recognition 72

6.3.3 Reasoning and Decision-Making 74

6.3.4 Action 76

6.4 Experiments and Results 77

6.5 Conclusion and Future Work 78

7 Demonstration at VA 81

7.1 Demonstration Scope 81

7.2 Demonstration Technologies 83

7.2.1 Validation of Instruments Returning from the OR 83

7.2.2 Moving Instrument Trays Throughout the Process 85

7.2.3 Rebuilding of Surgical Kits 87

7.2.4 Machine and Sensor Integration 89

7.3 Final Thoughts 90

7.3.1 Human-Robot Collaboration 90

7.3.2 Lights Out 90

Bibliography 93

Index 99