MULTIROBOTS-SURGERY platform conceptual ROS* architecture

The MULTIROBOTS-SURGERY platform is designed as a collection of functional modules, each one devoted to a single task.

We implemented the MULTIROBOTS-SURGERY platform as a collection of ROS* nodes. All the ROS nodes are connected to a central unit acting as ROS core, in charge of providing a common timestamp and driving the communication between nodes, and data recording module.

The figure shows the conceptual architecture of MULTIROBOTS-SURGERY platform in terms of ROS nodes.

*ROS is an open source, distributed, component-based development framework that has become the standard de facto for interfacing heterogeneous hardware and software in robotics applications.

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The problem of real-time motion planning

The robot motion planning is generally solved before the robot actually executes the desired motions and in case of motions that must avoid obstacles, this approach may work with static obstacles only. 

If, instead, obstacles are moving, the desired motion must be calculated in real-time, a few milliseconds before its execution.

 The setup used for the experiments. SARAS, Smart Autonomous Robotic Assistant Surgeon.
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NEXT GENERATION INTELLIGENT SURGICAL SYSTEMS: Computer simulation meets robotics

The SARAS Workshop “NEXT GENERATION INTELLIGENT SURGICAL SYSTEMS: Computer simulation meets robotics”, addressed to researchers representing SARAS’ two major fields of application: robotics and surgery, summarize the results of the project and presents the achievements obtained, including demonstrations, with the main objective of raising awareness of the project’s results (MS7).

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SARAS Multirobots-Surgery

SARAS Multirobots-Surgery is the first step toward the next generation of surgical robotic systems merging artificial intelligence, computer vision, machine learning and cognitive control for smarter and safer hospitals

Nowadays, during Robotic-Minimally Invasive Surgeries, two surgeons are needed in the operating room:

 

  • the main surgeon, who tele-operates the robotic surgery platform,
  • and the assistant surgeon, who uses laparoscopic instruments to provide support during the procedure.

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A surgical robot with cognitive functions

SARAS will develop a cognitive architecture able to make decisions based on pre-operative knowledge and on scene understanding via advanced machine learning algorithms.

Training Data Collection – Assistant surgeon’s master console.

Dexterity and perception capabilities of surgical robots may soon be improved by cognitive functions that can support surgeons in decision making and performance monitoring, and enhance the impact of automation within the operating rooms.

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