HUMAN-RATED SYSTEMS

In the context of Human-Rated Systems, the founder and team have worked on several projects with applications on Medical Robotics and Personal Robots. The projects are summarized briefly below.

 

Medical Robots

 

MRI-G: MRI-Guided Robot-Assisted In-Bore General Surgery

Endovascular surgery: MRI-G – robotic platform for navigating intravascular catheters and deploying balloons, stents and coils. Used with intraoperative images to complete the intervention with the patient in the MRI bore. The Feeding mechanism is mounted on the surgical tool module. It is used to advance the tool by rotation of the catheter and to navigate the vascular therapy elements.  Remote control is performed via haptic hand controllers by steering the sheath, lead catheter and distal tip of the catheter.

Bone biopsy: MRI-G – robotic platform for inserting a tool for bone biopsy. The MRI-G trocar carries the adapted biopsy tool to MRI scanning. The biopsy tool is registered in the MRI, and the intervention is controlled based on intraoperative images. Used with intraoperative images to complete the intervention with the patient in the MRI bore. Biopsy tool is mounted on the modular MRI-G robot. It is used to advance the tool by rotation and translation of the biopsy sample acquisition mechanism that is controlled through haptics.  Remote control is performed via haptic hand controllers by steering the sample taking mechanism and activating it to remove the biopsy sample.

 

MIEM: Minimally Invasive Endoscopic Robot for Neurosurgery

Endoscopic cranial surgery: MIEM - robotic platform including trocar; trocar arm; endoscope-based 3D vision; two surgical arms (slaves) mounted on the trocar arm; micro-surgical tools attached to and operated through the slave arms. Used with a surgical assistant workstation that provides the interface with the robotic platform including 3D endoscopic views and haptics-based hand control (master).  Surgical slave arm consists of three major subsystems: (i) surgical tool interface (end-effector); (ii) rigid and flexible hollow shafts (links); and (iii) motion and control mechanisms. Robotic system could be adapted for operation in 1.5T-3T MRI scanners. The robot is functional simultaneously with the operating scanner.

 

MRI-P: MRI-Guided Robot-Assisted In-Bore Prostate Surgery

Prostate focal ablation surgery: MRI-P - robotic platform including: (i) a six-joint robot; (ii) robot-based trocar for mounting surgical tools; (iii) hand controller for navigating the surgical tool by remote control;  (iv) robot controller; (v) a laptop-based user interface for robot control and image display; (vi) laser dispenser, power, and control; (v) MRI monitoring station (including MR Temperature mapping).  Robotic system could be adapted for operation in 1.5T-3T MRI scanners. The robot is functional simultaneously with the operating scanner. The system navigates the trocar-mounted surgical tools by remote or direct manual control.

During surgical procedures, the patient lies on the MRI roll-in table with leg supports attached to the table. The robot is mounted & secured onto the table and between patient’s legs. The robot controller is at a distance from the scanner, connected to the robot, and to the laptop that is in the adjacent control room. The surgeon remotely manipulates the tools based on MRI and laptop-based images using a hand controller (joystick) or manually.  Control of surgical tool penetration is based on visual feedback provided by MR imaging.  The image allows the user to identify the tool tip location relative to the target and perform suitable adjustments of the tool path to reach the target. When the tool is at the target, the laser is turned on, and ablation of tissue is performed.  MR thermography allows for real time imaging of tissue destruction. After the ablation process is completed, the scanner provides images of the heated and coagulated volumes of tissue.

 

Personal Robots

 

VCTR: Video Conferencing and Telepresence

VCTR allows remote person-to-person mobile video and voice communication. VCTR includes the basic MGP and the APM with dual video-voice communication. The robots on the market range in size, features and price. Currently the most expensive and updated telepresence robot are priced at $69,500. Other product’s prices are as low as $1,495. VCTR aims to be retailing for $4,950.

 

 HAR: Home Assistance Robot

 HAR is an extension of VCTR. It uses the basic MGP and the APM with a pair of arms, display of emotional interaction, gesture and emotion control, and 3D mapping. The arms are attached to a vertical trunk mounted on the platform to help around the house. HAR could help seniors and disabled persons to stand up from the bed and chair. Tis help could be provided by a remote control of the HAR from a service center. HAR could provide also some functions (to be defined) around the kitchen.

 

 HRR: Host & Receptionist Robot

 HRR is like HAR in size and profile. Its APM includes an outlet for consumer guidance and execution of on-line payments. HRR is focused on public and services environment, such as shopping center, exhibition center, museum and restaurants, etc.  There are few such products on the market.

 

 PSP: Security Robot

 PSP includes human and face recognition. The main tasks of PSP are execution of full or partially autonomous patrolling and related security tasks.  PSP is focused on public and private security services in both indoor and outdoor environment, such as schools, offices, condominiums, hotels, auto dealerships, stadiums, stations, ports and airports. PSP will move through programmed routes inside buildings independently; it will call and enter elevators; it will detect objects and issue emergency signals from fire-sensors and human detection sensors.

 

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