Robotic Surgery Training System – Robot Control, System Design

To realize the control of robots in a Robotic Surgery Training System to emulate the actual movements and capability of robot manipulators in an actual robotic surgical system, to design and design and develop semi-automated robotic procedures to assist Robotic surgery procedures, to develop and evaluate user control units to operate the Robotic Surgery Training System.
Description of the Project: 

The Robotic Surgery Training setup shown in the figure has been developed in our laboratory for researching the Robotic Surgical processes for training and actual operation purposes. This project aims to further develop the control and instrumentation of this setup to closely replicate actual Robotic surgical systems. The project involves robot control, design and implementation of mechatronic systems, and development of semi-automated robotic procedures applicable in robotic surgery and training.  Accordingly the goals of the project are to realize the control of robots in the Robotic Surgery Training System to emulate the actual movements and capability of robot manipulators in an actual robotic surgical system, to design and develop semi-automated robotic procedures to assist Robotic surgery procedures, to develop and evaluate user control units to operate the Robotic Surgery Training System.

Resources required: 
Requested from the project budget: -Consumables and equipment repair costs (to be budgeted to the project). Available: -Two robot arms, two force/torques sensors, a laparoscopy training box, laparoscopy training games.
Project number: 
120023
First Supervisor: 
University: 
Heriot-Watt University
Second Supervisor(s): 
First supervisor university: 
Heriot-Watt University
Essential skills and knowledge: 
Robotics
Desirable skills and knowledge: 
Medical robotics, machine learning, image processing.
Funding Available: 
References: 
  • Tugal, H., Gautier, B., Kircicek, M., and Erden, M.S., 2018, "Hand-Impedance Measurement During Laparoscopic Training Coupled with Robotic Manipulators", Proc. of  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), October 1-5, Madrid, accepted.
  • Erden, M.S., Rosa, B., Szewczyk, J. and Morel, G., 2013, “Understanding Soft Tissue Behavior for Application to Microlaparoscopic Surface Scan”, IEEE Transactions on Biomedical Engineering, vol. 60 (4): 1059-1068.
  • El Boghdady, M., Alijani, A., 2018, "The Application of a Performance-Based Self-Administered Intra-procedural Checklist on Surgical Trainees During Laparoscopic Cholecystectomy", World J Surg., Jun, 42 (6): 1695-1700.
  • El Boghdady, M., Ramakrishnan, G., Tang, B., and Alijani, A., 2018, "A Comparative Study of Generic Visual Components of Two-Dimensional Versus Three-Dimensional Laparoscopic Images", World J Surg., Mar, 42 (3): 688-694.
  • Alam, M., Wilson, MSJ., Tang, B., Tait, I.S., and Alijani, A., 2017, "A training tool to assess laparoscopic image navigation task performance in novice camera assistants", J Surg Res., Nov, 219:232-237.