TAILIEUCHUNG - A novel 3D camera based supervision system for safe human robot interaction in the operating room

In this paper, we present a supervision system, consisting of seven 3D cameras, and the according shape cropping algorithm, which allows verifying the correct setup of surgical robots, detecting potential collisions between robots and their surroundings as well as monitoring the correctness of the robots’ motions. The system has already been successfully implemented, set up and evaluated. | Journal of Automation and Control Engineering Vol. 3, No. 5, October 2015 A Novel 3D Camera Based Supervision System for Safe Human-Robot Interaction in the Operating Room P. Nicolai, J. Raczkowsky, and H. Wörn Karlsruhe Institute of Technology, Karlsruhe, Germany Email: Abstract—In anticipation of upcoming technological advances in the operating room, it is necessary to already give thought to how humans and robots can safely interact and cooperate in the operating room of the future. In this paper, we present a supervision system, consisting of seven 3D cameras, and the according shape cropping algorithm, which allows verifying the correct setup of surgical robots, detecting potential collisions between robots and their surroundings as well as monitoring the correctness of the robots’ motions. The system has already been successfully implemented, set up and evaluated. robots can safely interact and cooperate in the OR of the future: If robots and surgeons interact close to each other or even share the same workspace, do new safety hazards arise? How can riskless interaction be guaranteed? Can the robots’ performance be monitored by an independent system? In this work, we present a supervision system based on 3D Time-of-Flight (ToF) cameras for the OR that aims to provide answers to these questions. The system is part of the OP:Sense research platform for new concepts in surgical robotics [3]. OP: Sense also integrates other camera subsystems for separate objectives that are not in the scope of this work. The presented supervision system is not targeting one specific surgical robotic system. Instead, concepts are researched and implemented that can be applied to a wide range of robotic arms. While full integration has been performed with the DLR MiroSurge, using MIRO robots, and the KIT OP:Sense research platform, using KUKA LWR4 robots, the system is open to adaption to other systems based on single robotic arms. Examples for .

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