Computer vision and robotics in perioperative process
Xu, Yi,
Computer vision and robotics in perioperative process Yi Xu, Huan Tan, Ying Mao, Lynn-Ann DeRose. - xvii, 99 pages : illustrations (some color) ; 25 cm. - Series in computer vision, vol. 5 2010-2143 ; . - Series in computer vision ; v. 5. .
Includes bibliographical references (page 93-97) and index.
Contents
List of Figures
List of Tables
1. Automating the Perioperative Process
1.1 Background
1.2 Current Perioperative Process
1.3 Our Goa
1.3.1 Increased Safety
1.3.2 Improved Throughput
1.3.3 Enhanced Care Quality
1.4 Our Approach
1.4.1 Move Dirty Instrument to Sorting Table - Step 1
1.4.2 Sort the Instruments - Step 2
1.4.3 Move Sorted Instruments to Cleaner - Step 3
1.4.4 Wash and Disinfect Instruments - Step 4 & 5
1.4.5 Move Cleaned Instruments to Kit Building Table - Step 6
1.4.6 Build Surgical Kits - Step 7
1.4.7 Sterilization - Step 8
1.5 Organization of the Rest of the Book
2. Human-Supervisory Distributed Robotic System Architecture
2.1 Introduction
2.2 Related Work
2.3 Multi-Agent Software Architecture
2.3.1 Overall Robotic System Architecture
2.3.2 Individual Robotic System Architecture
2.4 Example of Implementation
2.4.1 Implemented Overall System Architecture
2.4.2 Implemented Individual Robotic Architectures
2.5 Experimental Setup
2.6 Summary and Future Work
3. TrayBot: Transporting Surgical Tools in Hospitals
3.1 Introduction
3.2 Related Work
3.3 Hardware Component Design
3.4 Integrated System Design
3.4.1 System Overview
3.4.2 Task Planning
3.4.3 Navigation and Localization
3.4.4 Vision-based Manipulator Control
3.5 Experimental Setup and Results
3.5.1 Success Rate
3.5.2 Angle Tolerance of the Gripper
3.6 Conclusion and Future Work
4. Vision-based Instrument Singulation
4.1 Introduction
4.2 Related Work
4.3 Vision-based Surgical Instrument Singulation
4.3.1 Surgical Instrument Identification
4.3.2 Localization and Pose Estimation
4.3.3 Occlusion Reasoning
4.3.4 Optimal Picking Location
4.4 Experiments
4.5 Conclusion and Discussion
5. Instrument Sorting Robots
5.1 Introduction
5.2 Related Work
5.3 Our Compliant End Effector Design
5.4 Dirty Side Sorter
5.4.1 System Architecture
5.4.2 Major System Components
5.5 Clean Side Kit-Builder
5.6 Experiments
5.6.1 Experiments on Dirty Side
5.6.2 Experiments on Clean Side
5.7 Conclusions and Discussions
6. Safe Robot-Human Collaboration
6.1 Introduction
6.2 Related Work
6.3 Methodology
6.3.1 Perception
6.3.2 Recognition
6.3.3 Reasoning and Decision-Making
6.3.4 Action
6.4 Experiments and Results
6.5 Conclusion and Future Work
7. Demonstration at VA
7.1 Demonstration Scope
7.2 Demonstration Technologies
7.2.1 Validation of Instruments Returning from the OR
7.2.2 Moving Instrument Trays Throughout the Process
7.2.3 Rebuilding of Surgical Kits
7.2.4 Machine and Sensor Integration
7.3 Final Thoughts
7.3.1 Human-Robot Collaboration
7.3.2 Lights Out
Bibliography
Index
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
9789813233270 (hardcover) 9813233273 (hardcover)
Artificial intelligence
Robotics in medicine.
Computer vision in medicine.
Surgical nursing.
Artificial intelligence
Computer vision in medicine.
Robotics in medicine.
Surgical nursing.--Medical applications.--Medical applications.
610.285
Computer vision and robotics in perioperative process Yi Xu, Huan Tan, Ying Mao, Lynn-Ann DeRose. - xvii, 99 pages : illustrations (some color) ; 25 cm. - Series in computer vision, vol. 5 2010-2143 ; . - Series in computer vision ; v. 5. .
Includes bibliographical references (page 93-97) and index.
Contents
List of Figures
List of Tables
1. Automating the Perioperative Process
1.1 Background
1.2 Current Perioperative Process
1.3 Our Goa
1.3.1 Increased Safety
1.3.2 Improved Throughput
1.3.3 Enhanced Care Quality
1.4 Our Approach
1.4.1 Move Dirty Instrument to Sorting Table - Step 1
1.4.2 Sort the Instruments - Step 2
1.4.3 Move Sorted Instruments to Cleaner - Step 3
1.4.4 Wash and Disinfect Instruments - Step 4 & 5
1.4.5 Move Cleaned Instruments to Kit Building Table - Step 6
1.4.6 Build Surgical Kits - Step 7
1.4.7 Sterilization - Step 8
1.5 Organization of the Rest of the Book
2. Human-Supervisory Distributed Robotic System Architecture
2.1 Introduction
2.2 Related Work
2.3 Multi-Agent Software Architecture
2.3.1 Overall Robotic System Architecture
2.3.2 Individual Robotic System Architecture
2.4 Example of Implementation
2.4.1 Implemented Overall System Architecture
2.4.2 Implemented Individual Robotic Architectures
2.5 Experimental Setup
2.6 Summary and Future Work
3. TrayBot: Transporting Surgical Tools in Hospitals
3.1 Introduction
3.2 Related Work
3.3 Hardware Component Design
3.4 Integrated System Design
3.4.1 System Overview
3.4.2 Task Planning
3.4.3 Navigation and Localization
3.4.4 Vision-based Manipulator Control
3.5 Experimental Setup and Results
3.5.1 Success Rate
3.5.2 Angle Tolerance of the Gripper
3.6 Conclusion and Future Work
4. Vision-based Instrument Singulation
4.1 Introduction
4.2 Related Work
4.3 Vision-based Surgical Instrument Singulation
4.3.1 Surgical Instrument Identification
4.3.2 Localization and Pose Estimation
4.3.3 Occlusion Reasoning
4.3.4 Optimal Picking Location
4.4 Experiments
4.5 Conclusion and Discussion
5. Instrument Sorting Robots
5.1 Introduction
5.2 Related Work
5.3 Our Compliant End Effector Design
5.4 Dirty Side Sorter
5.4.1 System Architecture
5.4.2 Major System Components
5.5 Clean Side Kit-Builder
5.6 Experiments
5.6.1 Experiments on Dirty Side
5.6.2 Experiments on Clean Side
5.7 Conclusions and Discussions
6. Safe Robot-Human Collaboration
6.1 Introduction
6.2 Related Work
6.3 Methodology
6.3.1 Perception
6.3.2 Recognition
6.3.3 Reasoning and Decision-Making
6.3.4 Action
6.4 Experiments and Results
6.5 Conclusion and Future Work
7. Demonstration at VA
7.1 Demonstration Scope
7.2 Demonstration Technologies
7.2.1 Validation of Instruments Returning from the OR
7.2.2 Moving Instrument Trays Throughout the Process
7.2.3 Rebuilding of Surgical Kits
7.2.4 Machine and Sensor Integration
7.3 Final Thoughts
7.3.1 Human-Robot Collaboration
7.3.2 Lights Out
Bibliography
Index
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
9789813233270 (hardcover) 9813233273 (hardcover)
Artificial intelligence
Robotics in medicine.
Computer vision in medicine.
Surgical nursing.
Artificial intelligence
Computer vision in medicine.
Robotics in medicine.
Surgical nursing.--Medical applications.--Medical applications.
610.285