用于传感器和图像引导手术的机器人本体

T. Haidegger, Marcos E. Barreto, P. Gonçalves, M. Habib, S. V. Ragavan, Howard Li, Alberto Vaccarella, Roberta Perrone, Edson Prestes e Silva
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引用次数: 2

摘要

由于技术进步、传感能力和机器智能的提高,机器人和机器人技术正变得越来越复杂和灵活。服务机器人的目标是广泛的应用,依赖于先进的人机交互。医疗机器人正在成为一个领先的应用领域,手术、康复和医院辅助机器人的数量正在迅速增加。然而,医疗环境的复杂性一直是一个主要障碍,阻碍了机器人技术的广泛使用,因此迄今为止出现的主要是远程操作、人在环控制解决方案。提供更智能、更好的医疗机器人需要一种系统的方法来描述和翻译机器人的人类过程。人们相信本体论可以架起人类认知理解和机器人推理(机器智能)的桥梁。此外,本体是评估机器人技术为医疗环境带来的附加价值的工具和方法。本文旨在对医疗机器人本体的相关研究进行梳理,并对研究现状进行综述。它侧重于外科领域,基本术语和相互作用描述了两个例子应用在神经外科和骨科。
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Robot ontologies for sensor- and Image-guided surgery
Robots and robotics are becoming more complex and flexible, due to technological advancement, improved sensing capabilities and machine intelligence. Service robots target a wide range of applications, relying on advanced Human-Robot Interaction. Medical robotics is becoming a leading application area within, and the number of surgical, rehabilitation and hospital assistance robots is rising rapidly. However, the complexity of the medical environment has been a major barrier, preventing a wider use of robotic technology, thus mostly teleoperated, human-in-the-loop control solutions emerged so far. Providing smarter and better medical robots requires a systematic approach in describing and translating human processes for the robots. It is believed that ontologies can bridge human cognitive understanding and robotic reasoning (machine intelligence). Besides, ontologies serve as a tool and method to assess the added value robotic technology brings into the medical environment. The purpose of this paper is to identify relevant ontology research in medical robotic, and to review the state-of-the-art. It focuses on the surgical domain, fundamental terminology and interactions are described for two example applications in neurosurgery and orthopaedics.
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