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Important Notes:

CARS 2010
June 23-26, 2010
Geneva, Switzerland



15:15 | Workshop on Data Flow and Integration of Computer and Robot Assisted Surgical Procedures15:15 | Workshop on Data Flow and Integration of Computer and Robot Assisted Surgical Procedures

CARS – Tutorials, Workshops and Special Events

15:15 Workshop on Data Flow and Integration of Computer and Robot Assisted Surgical Procedures
Saturday, June 27, 2009, Estrelsaal B

Session Chairs:
Jörg Raczkowsky, PhD (D); Sergio Casciaro, PhD (I)

The aim of the workshop is to present the results of EU FP6 project AccuRobAs. The main objective of the project is to develop an innovative and universal robotic assistant system to support a human in dextrous manipulation. For this reason methods are addressed to increase accuracy for lightweight compliant robotic systems during surgical procedures on different levels of autonomy. This varies from telemanipulation to autonomous behaviour. The approach focuses on adaptive control by exhibiting rich sensory-motor skills and multi-sensory measurement to distinctly increase the system accuracy. Therefore it is crucial to include methods to describe uncertainties in patient data and resource descriptions for the complete workflow from imaging to planning and execution.

The following goals are identified for the project:

  1. Increase accuracy of compliant light weight robots through multi-sensory concepts
  2. Increase accuracy of robotic procedure planning through adaptive models, soft tissue modelling and online motion prediction
  3. Develop new techniques for laser osteotomy to enable contact-free cutting of arbitrary cutting geometries in the human bone with superior accuracy
  4. Provide kinaesthetic feedback to robotic systems for palpation in real and simulated environments

The presentations will show how new technology like lightweight robot arm is applicable for tasks in the operating room by integrating into a comprehensive sensor environment. The specific demands of surgical robotics could only be achieved by considering the complete workflow of the surgical treatment.

15:15 Introduction to EU FP6 project AccuRobAs
P. Fiorini, Univ. of Verona (I)

15:30 Planning a modelling of deformable patient models for minimally invasive robotic surgery
D. Botturi, Univ. of Verona (I)

15:45 Robot-assisted laser processing of bone
J. Burgner, Univ. of Karlsruhe (D)

16:00 Registration and calibration for robot assisted laser osteotomy
D. Stein, Univ. of Karlsruhe (D)

16:15 Analysis of a KUKA lightweight robots accuracy for laser osteotomy
H. Mönnich, Univ. of Karlsruhe (D)

16:30 3D reconstruction for beating heart motion compensation
P. Poignet, Univ. of Montpellier (F)

16:45 Breathing motion compensation thanks to visual servoing for laser osteotomy operations
G. Morel, Univ. of Paris (F)

17:00 Towards motion compensation and force feedback in minimally invasive robotic surgery
R. Konietschke, German Aerospace Center e.V., Wessling (D)

17:15 End of Session