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Robots for Medicine and Personal Assistance
Guest lecturer: Ron Alterovitz
Growth of Robotics Industry Worldwide
2
$0
$14
$28
$42
$56
$70
1995 2000 2005 2010 2015 2020 2025
Market Size
(Billions)
Source: Japan Robotics Association
What is a Robot?
3
Karel Čapek's 1920 play R.U.R. (Rossum's Universal Robots)
“robota” = drudgery, hard work
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What is a robot?
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“A robot is a virtual or mechanical artificial agent. In practice, it is usually an electro-mechanical machine which is guided by computer or electronic programming, and is thus able to do tasks on its own.”
Wikipedia:
What is a Robot?
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Joseph Engelberger - the “Father of Robotics”
The Unimate, GM assembly line in New Jersey, in 1961
“I can't define a robot, but I know one when I see one.”
“Robotics”
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May 1941 issue - “Liar!”Isaac Asimov
The study of robot design, programming, control, and application
Applications of Robotics
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Manufacturing
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Growth of Robotics Industry Worldwide
10
$0
$14
$28
$42
$56
$70
1995 2000 2005 2010 2015 2020 2025
Market Size
(Billions)
Source: Japan Robotics Association
Growth of Robotics Industry Worldwide
11
$0
$14
$28
$42
$56
$70
1995 2000 2005 2010 2015 2020 2025
Market Size
(Billions)
Source: Japan Robotics Association
Manufacturing
Home, Medical, Public Sector
Sense Plan Move
12
Uncertainty
What if there is uncertainty or the environment is changing?
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Sense Plan Move
Major contribution of Computer Science}
Why use Robots?
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• Accuracy
• Precision
• Repetitive, dull tasks
• Dangerous/remote environments
• Small/large scales
• Large/fine forces
Why use robots in medicine?
• Enhance the effectiveness of a procedure by coupling information to action in the operating room
• Transcend humans’ physical limitations in performing surgical procedures while still affording them to control over the procedure
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Precision of imaging > precision of hand surgery
Computational Challenges
• Motion planning:
• Patient variability
• Deformable workspace (physically-based simulation)
• Uncertainty in tissue/device interaction
• Limited computation time
• Patient safety requirements:
• No excessive forces
• No errors16
First Clinically-used Medical Robot
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[Yik San Kwoh et al., IEEE Trans. Biomedical Engineering, 1988]
CT-Guided Brain BiopsyMemorial Medical Center, Long Beach, 1985
Computer-Integrated Surgery
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Computer-assistedplanning
Patient-specificModel
Update Model
Computer-Assisted
Execution
Update Plan
Computer-Assisted
Assessment
Preoperative Intraoperative
Atlas
Postoperative
Patient
[R. Taylor, JHU]
Computer-assistedplanning
Patient-specificModel
Update Model
Computer-Assisted
Execution
Update Plan
Computer-Assisted
Assessment
Preoperative Intraoperative
Atlas
Postoperative
Patient
Computer-Integrated Surgery
19
Surgical“CAD”
Surgical“CAM”
Surgical“TQM”
[R. Taylor, JHU]
Computer-assistedplanning
Patient-specificModel
Update Model
Computer-Assisted
Execution
Update Plan
Computer-Assisted
Assessment
Preoperative Intraoperative
Atlas
Postoperative
Patient
[R. Taylor, JHU]
Computational Challenges
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Motion Planning, Simulation
Example: Joint Replacement Surgery
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Every year, more than 600,000 people in the U.S. undergo hip- or knee-replacement surgery
ROBODOC: Joint Replacement Surgery
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Manual surgery Robotic surgery
Over 10,000 hip & knee replacements since 1992, but high cost
Laparoscopic Procedures
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Advantages compared to open surgery: Fewer incisions, quicker recovery
Disadvantages: Difficult for physicians, limited field of view, coordinate system transformation, tiring
Robot Tele-operation
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Operating a robot from a distance
Robotic Laparoscopic Procedures
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Intuitive Surgical’s da Vinci Surgical System
Advantages: Visual magnification, coordinate system transformation, stabilization, reduce # incisions
Adoption of Intuitive Surgical Robot
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25% growth annually since 1999
Intuitive Surgical’s da Vinci System
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Robotic Surgery
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Can routine surgical tasks be automated?
Robotics at UNC
• COMP 060: Robotics with Legos
• COMP 590: Artificial Intelligence
• COMP 590: Intro to Robotics
• COMP 790: Motion Planning
• COMP 790: Medical Robotics
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