ISBN 9783843924832

978-3-8439-2483-2, Reihe Informatik

Tim Beyl
Workflow-based Context-aware Control of Surgical Robots

212 Seiten, Dissertation Karlsruher Institut für Technologie (2015), Hardcover, B5

Zusammenfassung / Abstract

Surgical assistance system such as medical robots enhanced the capabilities of medical procedures in the last decades. Newer trends are the operating room integration and surgical phase recognition. These among others serve the purpose to optimize assistance systems and their use. This work presents a new perspective on the use of workflows in the operating room and shows methods to include not only the procedure and patient specific workflow into the process, but also to include the peri-operative workflow in the operating room and focuses on the medical personnel. This is accomplished by a 3D perception system that is able to track and to detect the personnel in the entire operating room that is described in this work. A workflow-based controller has been developed and evaluated, which is equipped with a knowledge base and that allows to interpret sensory information from the operating room to follow the actual workflow. The workflow in this scope can be designed by a domain expert (e.g. surgeon) using business process modelling and a graphical representation. The knowledge base is used during run time to find the optimal components for the operation and to configure them for every task included to the workflow. The perception system has been evaluated quantitatively. The workflow-based controller has been used to execute a workflow that combines autonomous, hands-on and telemanipulation actions of a surgical robot, which has been evaluated by performing user studies. The evaluation has been performed in a laboratory setup. The results show a high performance of the developed perception system and the feasibility as well as an excellent user experience of the workflow detection and control approach using the workflow-based controller