Basic description of the topic:
During the last decades, the rapid spread of Robot-Assisted Minimally Invasive Surgery (RAMIS) induced a revolution to the surgical practice. In the new technique, interventions can be performed through small incisions, while the area of operation is viewed on endoscopic camera stream. Despite its benefits, RAMIS also presented difficulties to the surgeons, some subtasks of the operation became monotonous and time-consuming, A significant portion of current research efforts aims to automate these subtasks to reduce the cognitive load on the surgeon. Although solutions on automating interventions performed on rigid tissues exist, automation regarding soft tissues is still highly challenging. Almost all of the current research projects aim partial automation, thus require constant supervision by the surgeon.
The task is the implementation of an effective Human-Machine Interface (HMI) for partial automation in surgery. The research-enhanced da Vinci Surgical System, da Vinci Research Kit (DVRK) available in the Antal Bejczy Center for Intelligent Robotics. The autonomous execution is supported by Robot Operating Sytem (ROS) based modular iRob Surgical Automation Framework (irob-saf). The task includes the theoretical development of the method of communication between the surgeon and the autonomous system, implementation and integration of the developed solution, and the validation of the system.
Detailed tasks:
- Literature overview in the field of surgical subtask automation and HMIs;
- Get acquainted with ROS, the da Vinci Surgical System, the DVRK platform and irob-saf;
- Development of an effective HMI methodology for partial automation in surgery;
- Integrating the HMI with the robot, the DVRK research platform and irob-saf;
- Execution and evaluation of user studies.
Over the course of the project, the student will get involved with the various research project of the Antal Bejczy Center for Intelligent Robotics.