- Robotics, Embedded Systems, Autonomous Robotics, Control Theory, Fuzzy Logic Control, Medical Robotics, and 19 moreSurgical Robotics, Autonomous Mobile Robots, Non-Linear Control, Geometric methods in control, Mobile Robotics, Tracking Control, Path Tracking, Geometric Control, Switching Control, Constrained control, System on a Chip, Feedback Equivalence, Information Technology, Artificial Intelligence, Mathematics, Software Engineering, Electrical Engineering, Applied Physics, and Electrical and Computer Engineering (ECE)edit
In this chapter we analyse a SoC implementation for the non-holonomic robot path tracking task using a fuzzy logic controller, along with a non-linear feedback-equivalence transformation which reduces path tracking to straight line... more
In this chapter we analyse a SoC implementation for the non-holonomic robot path tracking task using a fuzzy logic controller, along with a non-linear feedback-equivalence transformation which reduces path tracking to straight line tracking. The major components of the SoC are a parametrized Digital Fuzzy Logic Controller (DFLC) soft IP core Deliparaschos et al. (2006) Deliparaschos & Tzafestas (2006), implementing the fuzzy tracking
algorithm, and Xilinx’s Microblaze soft processor core as the top level flow controller. The system was tied to a differential drive robot and experiments were performed in order to asses the efficacy and performance of the overall control scheme. This was facilitated using an image analysis algorithm, presented in the following sections, which calculated the robot’s
position from a video stream captured using an overhead camera. The analysis was made off-line.
algorithm, and Xilinx’s Microblaze soft processor core as the top level flow controller. The system was tied to a differential drive robot and experiments were performed in order to asses the efficacy and performance of the overall control scheme. This was facilitated using an image analysis algorithm, presented in the following sections, which calculated the robot’s
position from a video stream captured using an overhead camera. The analysis was made off-line.
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This paper presents an innovative approach, based on industry 4.0 concepts, for monitoring the life cycle of optoelectronical devices, by adopting image processing and deep learning techniques regarding defect detection. The proposed... more
This paper presents an innovative approach, based on industry 4.0 concepts, for monitoring the life cycle of optoelectronical devices, by adopting image processing and deep learning techniques regarding defect detection. The proposed system comprises defect detection and categorization during the front-end part of the optoelectronic device production process, providing a two-stage approach; the first is the actual defect identification on individual components at the wafer level, while the second is the pre-classification of these components based on the recognized defects. The system provides two image-based defect detection pipelines. One using low resolution grating images of the wafer, and the other using high resolution surface scan images acquired with a microscope. To automate the entire process, a communication middleware called Higher Level Communication Middleware (HLCM) is used for orchestrating the information between the processing steps. At the last step of the process...
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In this paper the path tracking problem for non-holonomic mobile robots is dealt with. The model used is known as the Dubins Car model. A robust fuzzy logic controller that steers the car to the appropriate direction is proposed. A... more
In this paper the path tracking problem for non-holonomic mobile robots is dealt with. The model used is known as the Dubins Car model. A robust fuzzy logic controller that steers the car to the appropriate direction is proposed. A technique called "spatial window technique" which greatly increases the overall performance of the control scheme is also introduced. The simulations of this scheme show that the path following problem is treated very adequately and the noise tolerance of the overall system is high.
Research Interests: Cognitive Science, Computer Science, Mobile Robotics, Fuzzy Logic, Fuzzy Logic Control, and 10 moreNonholonomic Vehicles, Mobile Robot, computer science Artificial intelligence, Robustness, Path Tracking, Nonholonomic Robot, Non Holonomic Robots, Fuzzy Logic Controller, Artificial Intelligence tools, and Path following
Research Interests: Engineering, Mechanical Engineering, Applied Mathematics, Mobile Robotics, Fuzzy Logic, and 15 moreFuzzy Logic Control, Fuzzy Systems, Fuzzy Control, Mobile Robots, ROBOT, Curvature, Constrained control, Mobile Robot, Controllers, Path Tracking, Fuzzy Logic Controller, Fuzzy Tracking Controller, Electrical And Electronic Engineering, Automation Control Systems, and impulsive systems
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Purpose Using robotic technology and communications infrastructure to remotely perform surgery has been a persistent goal in medical research in the past three decades. The recent deployment of the Fifth-Generation Wireless Networks has... more
Purpose Using robotic technology and communications infrastructure to remotely perform surgery has been a persistent goal in medical research in the past three decades. The recent deployment of the Fifth-Generation Wireless Networks has revitalized the research efforts in the telesurgery paradigm. Offering low latency and high bandwidth communication, they are well suited for applications that require real-time data transmission and can allow smoother communication between surgeon and patient, making it possible to remotely perform complex surgeries. In this paper, we investigate the effects of the 5 G network on surgical performance during a telesurgical demonstration where the surgeon and the robot are separated by nearly 300 km. Methods The surgeon performed surgical exercises on a robotic surgery training phantom using a novel telesurgical platform. The master controllers were connected to the local site on a 5 G network, teleoperating the robot remotely in a hospital. A video f...
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Invited talk which presents the technological research efforts of various academic and reasearch institution in Greece, regarding Mininally Invasive Surgery, either... more
Invited talk which presents the technological research efforts of various academic and reasearch institution in Greece, regarding Mininally Invasive Surgery, either "regular" of robotic.
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Surgical robots are becoming mainstream in medical practice and present many advantages over classical methods. However, there is a golden standard that applies: it is the human who performs the surgery. Allowing the robot to act on its... more
Surgical robots are becoming mainstream in medical practice and present many advantages over classical methods. However, there is a golden standard that applies: it is the human who performs the surgery. Allowing the robot to act on its own has raised concerns and expectations. Who is really operating? The surgeon, the robot or the programmer? This talk will present the problems faced with inserting various levels of autonomy in surgical robots and the interaction between surgeon and robot. Current research results will be discussed along with emerging trends in surgical robotics.
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Abstract. Mobility disabilities are prevalent in our ageing society and impede activities important for the independent living of elderly people and their quality of life. The goal of this work is to support human mobility and thus... more
Abstract. Mobility disabilities are prevalent in our ageing society and impede activities important for the independent living of elderly people and their quality of life. The goal of this work is to support human mobility and thus enforce fitness and vitality by developing intelligent robotic platforms designed to provide user-centred and natural support for ambulating in indoor environments. We envision the design of cognitive mobile robotic systems that can monitor and understand specific forms of human activity, in order to deduce what the human needs are, in terms of mobility. The goal is to provide user and context adaptive active sup-port and ambulation assistance to elderly users, and generally to individuals with specific forms of moderate to mild walking impairment. To achieve such targets, a reliable multimodal action recognition system needs to be developed, that can monitor, analyse and predict the user actions with a high level of accuracy and detail. Different modalit...
ABSTRACT Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple... more
ABSTRACT Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking task, which helps the surgeon guide the robot on a predefined reference. The control is implemented on top of a shared control system, which serves as a basis for implementing higher level controllers. Experiments with a trained surgeon are also presented, which show the positive effect of the approach.
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In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mobile robots is presented. The SoC consists of a digital fuzzy logic processor and a flow control program that runs under the Xilinx... more
In this paper a System-on-a-Chip (SoC) for the path following task of autonomous non-holonomic mobile robots is presented. The SoC consists of a digital fuzzy logic processor and a flow control program that runs under the Xilinx Microblaze™ soft processor core. The fuzzy processor implements a fuzzy path tracking algorithm introduced by the authors. The system was tied to an actual P3-DX8 robot and field experiments have been performed in order to assess the overall performance. Quantization problems and limitations imposed by the system configuration are also discussed.
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Abstract—During the past decade, robotic technology has evolved considerably towards the development of cognitive robotic systems that enable close interaction with humans. Application fields of such novel robotic technologies are now... more
Abstract—During the past decade, robotic technology has evolved considerably towards the development of cognitive robotic systems that enable close interaction with humans. Application fields of such novel robotic technologies are now wide spreading covering a variety of human assistance function-alities, aiming in particular at supporting the needs of human beings experiencing various forms of mobility or cognitive impairments. Mobility impairments are prevalent in the elderly population and constitute one of the main causes related to difficulties in performing Activities of Daily Living (ADLs) and consequent reduction of quality of life. This paper reports current research work related to the control of an intelligent robotic rollator aiming to provide user-adaptive and context-aware walking assistance. To achieve such targets, a large spectrum of multimodal sensory processing and interactive
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In this paper a piecewise linear homeomorphism is presented that maps a strictly monotone polygonal chain to a straight line. This mapping enables one to reduce the path tracking task for mobile robots to straight line tracking. Due to... more
In this paper a piecewise linear homeomorphism is presented that maps a strictly monotone polygonal chain to a straight line. This mapping enables one to reduce the path tracking task for mobile robots to straight line tracking. Due to the simplicity of the transformation, closed form solutions for the direct and inverse mapping are presented. Furthermore, the transformation also defines a feedback equivalence relation between the original and the transformed system equations of the mobile robot. It is shown that the form of the system equations is preserved and that the transformation essentially maps a car-like robot in the original domain, to a car-like robot in the transformed domain. This enables one to use straight line trackers developed solely for this system, for the tracking of arbitrary strictly monotone polygonal curves. Finally, it is shown that the use of this mapping can also simplify the application of existing path tracking controllers since they only need to track ...
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a b s t r a c t This paper presents a System on Chip (SoC) for the path following task of autonomous non-holonomic
Research Interests: Mechanical Engineering, Computer Science, Fuzzy Logic, Flow Control, System on Chip, and 9 moreField Experiment, Mobile Robot, Path Tracking, System on a Chip, Path Following Methods, Fuzzy Logic Controller, Fuzzy Controller, Electrical And Electronic Engineering, and System center configuration manager
This work presents an intention-based assistive controller for allowing a robot to follow a human while moving in the front. This task is particularly challenging in indoor environments, as there are situations that are undecidable,... more
This work presents an intention-based assistive controller for allowing a robot to follow a human while moving in the front. This task is particularly challenging in indoor environments, as there are situations that are undecidable, namely in junctions. We propose a novel local kinodynamic planner which concurrently detects discrete routes and continuous motion paths, providing path equivalence classes. Furthermore, we detail an intention recognition algorithm to make the robot take the user-intended turn. Our scheme is experimentally tested in a T-Junction set-up using human subjects, and the results are discussed.
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We present a robot following behavior, which enables a mobility assistance robot to follow the user from the front. Although this behavior is desirable in various circumstances, it has received scarce attention. Our proposed solution... more
We present a robot following behavior, which enables a mobility assistance robot to follow the user from the front. Although this behavior is desirable in various circumstances, it has received scarce attention. Our proposed solution consists of a kinematic control scheme, tied to a human position estimator based on a Laser Range Finder. Experiments have been performed in an indoor environment with ten users, and the results have been analyzed and presented. We show that the control is feasible but inserts a cognitive load on the users, who tend to “drive” the robot to the optimal paths they would take under normal conditions.
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This paper presents a 2D Delaunay triangulation core for surface reconstruction implemented on a Field Programmable Gate Array (FPGA) chip. The core implementation is derived using high-level synthesis from a C++ description of an... more
This paper presents a 2D Delaunay triangulation core for surface reconstruction implemented on a Field Programmable Gate Array (FPGA) chip. The core implementation is derived using high-level synthesis from a C++ description of an incremental 2D Delaunay triangulation algorithm. This description was modified accordingly so that it can be embedded into a FPGA chip using hardware description language. Goal of this work is to increase the execution speed of the algorithm so as to allow for real-time operation. Towards this end, we performed an optimization process using high level synthesis directives which pipeline regions of the code in order to achieve delay optimization. We show preliminary results using standard benchmark models for surface reconstruction, which show the performance of our design.
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During the past decade, robotic technology has evolved considerably towards the development of cognitive robotic systems that enable close interaction with humans. Application fields of such novel robotic technologies are now wide... more
During the past decade, robotic technology has evolved considerably towards the development of cognitive robotic systems that enable close interaction with humans. Application fields of such novel robotic technologies are now wide spreading covering a variety of human assistance functionalities, aiming in particular at supporting the needs of human beings experiencing various forms of mobility or cognitive impairments. Mobility impairments are prevalent in the elderly population and constitute one of the main causes related to difficulties in performing Activities of Daily Living (ADLs) and consequent reduction of quality of life. This paper reports current research work related to the control of an intelligent robotic rollator aiming to provide user-adaptive and contextaware walking assistance. To achieve such targets, a large spectrum of multimodal sensory processing and interactive control modules need to be developed and seamlessly integrated, that can, on one side track and ana...
Robotic rollators can play a significant role as assistive devices for people with impaired movement and mild cognitive deficit. This paper presents an overview of the i-Walk concept; an intelligent robotic rollator offering cognitive and... more
Robotic rollators can play a significant role as assistive devices for people with impaired movement and mild cognitive deficit. This paper presents an overview of the i-Walk concept; an intelligent robotic rollator offering cognitive and ambulatory assistance to people with light to moderate movement impairment, such as the elderly. We discuss the two robotic prototypes being developed, their various novel functionalities, system architecture, modules and function scope, and present preliminary experimental results with actual users.
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We present a feedback equivalence transformation for the Dubins airplane model, which maps a monotone reference curve in space, to a straight line. This enables one to reduce path following and trajectory tracking for UAVs to the... more
We present a feedback equivalence transformation for the Dubins airplane model, which maps a monotone reference curve in space, to a straight line. This enables one to reduce path following and trajectory tracking for UAVs to the following and tracking of a straight line. We show that under this equivalence map, the system’s equations remain invariant. Thus, in the new transformed space, one can use existing controllers, simplify them for straight lines, and apply them for tracking. We analyse the requirements of the reference curves which allow bijectivity and showcase simulation results using existing controllers.
Mobility assistance robots (MARs) provide support to elderly or patients during walking. The design of a safe and intuitive assistance behavior is one of the major challenges in this context. Here we present work on two modes of physical... more
Mobility assistance robots (MARs) provide support to elderly or patients during walking. The design of a safe and intuitive assistance behavior is one of the major challenges in this context. Here we present work on two modes of physical Human-Robot interaction; one where the human in is direct contact with the MAR, e.g. by holding some handles, and the other where the human releases the handles whilst the MAR has to follow him/her from the front, i.e. contactless. For the first mode, we present an integrated approach for the context-specific, on-line adaptation of the assistance level of a rollator-type MAR by gain-scheduling of low-level robot control parameters. A human-inspired decision-making model, the Drift-Diffusion Model, is introduced as the key principle to gain-schedule parameters and with this to adapt the provided robot assistance in order to achieve a human-like assistive behavior. The MAR is designed to provide a) cognitive assistance to help the user follow a desire...
Motion compensation in coronary artery bypass graft surgery refers to the virtual stabilization of the beating heart, along with the mechanical synchronization of the robotic arms with the pulsating heart surface. The stabilized image of... more
Motion compensation in coronary artery bypass graft surgery refers to the virtual stabilization of the beating heart, along with the mechanical synchronization of the robotic arms with the pulsating heart surface. The stabilized image of the heart is presented to the surgeon to operate on, while the heart motion is compensated by the robot, and the surgeon essentially operates on a virtual still heart. In this chapter, we present an introduction to the concept of motion compensation and a brief history of research efforts. We analyze a unifying framework which naturally binds together the image stabilization, mechanical synchronization, and shared control tasks. This framework serves as a baseline upon which more complicated assistive modes are built, for example, active and haptic assistance. These modes are discussed more thoroughly, and their efficacy is assessed via laboratory experimental trials in a simulation setup, which are presented in detail.
Robots can play a significant role as assistive devices for people with movement impairment and mild cognitive deficit. In this paper we present an overview of the lightweight i-Walk intelligent robotic rollator, which offers cognitive... more
Robots can play a significant role as assistive devices for people with movement impairment and mild cognitive deficit. In this paper we present an overview of the lightweight i-Walk intelligent robotic rollator, which offers cognitive and mobility assistance to the elderly and to people with light to moderate mobility impairment. The utility, usability, safety and technical performance of the device is investigated through a clinical study, which took place at a rehabilitation center in Greece involving real patients with mild to moderate cognitive and mobility impairment. This first evaluation study comprised a set of scenarios in a number of pre-defined use cases, including physical rehabilitation exercises, as well as mobility and ambulation involved in typical daily living activities of the patients. The design and implementation of this study is discussed in detail, along with the obtained results, which include both an objective and a subjective evaluation of the system opera...
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Navigational skills decline with age, and this decline is even more pronounced in cognitively impaired (CI) older adults. Navigation assistance is an emerging functionality of robotic rollators (RRs). The evidence on the effectiveness of... more
Navigational skills decline with age, and this decline is even more pronounced in cognitively impaired (CI) older adults. Navigation assistance is an emerging functionality of robotic rollators (RRs). The evidence on the effectiveness of RR-integrated navigation systems in potential end-users is, however, scarce. To determine whether RR-provided navigation assistance improves navigation within a real-life environment in the intended user group of frail older adults with and without cognitive impairment currently using a rollator in daily life. A randomized, between-subject, 2 × 2 factorial design was conducted to test the effects of navigation assistance and cognitive status on participants' navigation performance. Twenty CI (Mini-Mental State Examination [MMSE] 17-26) and 22 not cognitively impaired (NCI; MMSE >26) older rollator users (age 82.5 ± 8.7 years) were included. Participants were matched for cognitive status (CI vs. NCI) and randomized to one of two conditions: RR...
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This paper presents the analysis and application of the strip-wise affine map to the path following task of autonomous nonholonomic mobile robots.The mapping was implemented on a Spartan 3-1500 FPGA board with the use of VHDL and advanced... more
This paper presents the analysis and application of the strip-wise affine map to the path following task of autonomous nonholonomic mobile robots.The mapping was implemented on a Spartan 3-1500 FPGA board with the use of VHDL and advanced EDA tools, and was used in field experiments on a Khepera II differential drive robot.
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In this paper a piece-wise line homeomorphism is presented that maps a strictly monotonic polygonal chain to a straight line. This mapping enables one to reduce the path tracking task for mobile robots to straight line tracking. The... more
In this paper a piece-wise line homeomorphism is presented that maps a strictly monotonic polygonal chain to a straight line. This mapping enables one to reduce the path tracking task for mobile robots to straight line tracking. The benefits of the method includes the ability to create new fast path tracking algorithms, and simplify available ones.
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This paper presents a System-on-Chip for the path following task of autonomous non-holonomic mobile robots.The SoC consists of a parameterized 'digital fuzzy logic controller' (DFLC) core and a flow control algorithm that runs under... more
This paper presents a System-on-Chip for the path following task of autonomous non-holonomic mobile robots.The SoC consists of a parameterized 'digital fuzzy logic controller' (DFLC) core and a flow control algorithm that runs under Xilinx Microblaze processor core. The fuzzy controller supports a fuzzy path tracking algorithm developed by the authors.The FPGA board hosting the SoC was attached to an actual differential drive Pioneer 3-DX8 robot.
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This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a... more
This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a motion compensation framework, the motion of the heart surface is stabilized in a virtual space, which is presented to the surgeon to operate in. Consequently, the fixture is implemented in this static space, bypassing problems of dynamic fixtures such as position update, placement and force transients. Randomized experiments were performed using s trained surgeon comparing our approach to simple motion compensation and no compensation at all. The positive effect of the fixture in surgical accuracy for a tracking task is also discussed.
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This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
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IEEE Copyright Notice
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Copyright 2013 IEEE (http://www.ieee.org/index.html). Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works, must be obtained from the IEEE.
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
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Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking... more
Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking task, which helps the surgeon guide the robot on a predefined reference. The control is implemented on top of a shared control system, which serves as a basis for implementing higher level controllers. Experiments with a trained surgeon are also presented, which show the positive effect of the approach.
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""This paper presents a shared control approach for motion compensation in robotic beating heart surgery. Motion compensation consists of three main tasks; motion synchronization, image stabilization and shared control. The paper... more
""This paper presents a shared control approach for motion compensation in robotic beating heart surgery. Motion compensation consists of three main tasks; motion synchronization, image stabilization and shared control. The paper discusses a unifying framework under which the three tasks combine seamlessly. In this work, the planar 1-manifold case is considered, where a strip-wise affine map is performed to achieve image stabilization onto a canonical space, where shared control emerges naturally. A prototype teleoperation system is also described, implementing the algorithms. Experiments were performed with medically trained users, and the positive effect of motion compensation is analyzed.
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IEEE Copyright Notice
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Copyright 2013 IEEE (http://www.ieee.org/index.html). Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works, must be obtained from the IEEE.
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
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IEEE Copyright Notice
-------------------------
Copyright 2013 IEEE (http://www.ieee.org/index.html). Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works, must be obtained from the IEEE.
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
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Background Autonomous control of surgical robotic platforms may offer enhancements such as higher precision, intelligent manoeuvres, tissue-damage avoidance, etc. Autonomous robotic systems in surgery are largely at the experimental... more
Background
Autonomous control of surgical robotic platforms may offer enhancements such as higher precision, intelligent manoeuvres, tissue-damage avoidance, etc. Autonomous robotic systems in surgery are largely at the experimental level. However, they have also reached clinical application.
Methods
A literature review pertaining to commercial medical systems which incorporate autonomous and semi-autonomous features, as well as experimental work involving automation of various surgical procedures, is presented. Results are drawn from major databases, excluding papers not experimentally implemented on real robots.
Results
Our search yielded several experimental and clinical applications, describing progress in autonomous surgical manoeuvres, ultrasound guidance, optical coherence tomography guidance, cochlear implantation, motion compensation, orthopaedic, neurological and radiosurgery robots.
Conclusion
Autonomous and semi-autonomous systems are beginning to emerge in various interventions, automating important steps of the operation. These systems are expected to become standard modality and revolutionize the face of surgery.
Autonomous control of surgical robotic platforms may offer enhancements such as higher precision, intelligent manoeuvres, tissue-damage avoidance, etc. Autonomous robotic systems in surgery are largely at the experimental level. However, they have also reached clinical application.
Methods
A literature review pertaining to commercial medical systems which incorporate autonomous and semi-autonomous features, as well as experimental work involving automation of various surgical procedures, is presented. Results are drawn from major databases, excluding papers not experimentally implemented on real robots.
Results
Our search yielded several experimental and clinical applications, describing progress in autonomous surgical manoeuvres, ultrasound guidance, optical coherence tomography guidance, cochlear implantation, motion compensation, orthopaedic, neurological and radiosurgery robots.
Conclusion
Autonomous and semi-autonomous systems are beginning to emerge in various interventions, automating important steps of the operation. These systems are expected to become standard modality and revolutionize the face of surgery.
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Surgical robots are becoming mainstream in medical practice and present many advantages over classical methods. However, there is a golden standard that applies: it is the human who performs the surgery. Allowing the robot to act on its... more
Surgical robots are becoming mainstream in medical practice and present many advantages over classical methods. However, there is a golden standard that applies: it is the human who performs the surgery. Allowing the robot to act on its own has raised concerns and expectations. Who is really operating? The surgeon, the robot or the programmer? This talk will present the problems faced with inserting various levels of autonomy in surgical robots and the interaction between surgeon and robot. Current research results will be discussed along with emerging trends in surgical robotics.
Research Interests:
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Invited talk which presents the technological research efforts of various academic and reasearch institution in Greece, regarding Mininally Invasive Surgery, either "regular" of robotic.