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ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
www.indianactsi.org
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
www.indianactsi.org
Gestonurse: the robotic assistant
Prof. Juan Wachs, IE
Mithun Jacob, PhD Candidate
Yu-Ting Li, PhD Candidate
Prof. George AkingbaIUSM, Department ofSurgery
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
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GestonurseRobotic assistant that delivers surgical instruments according to multimodal requests
" Gestonurse: A Multimodal Robotic Scrub Nurse" Jacob, M; YT Li, Wachs, JP (2012). In Proc. of the 7th ACM/IEEE International Conference on Human Robot Interaction (HRI 2012). March 5-8, 2012, Boston, Massachusetts.
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
www.indianactsi.org
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
www.indianactsi.org
Gestonurse: Setup
OR Display
Anesthesiologist
Resident
Surgeon
Computer Vision and Control System
RoboticScrubNurse
Robot delivering the surgical instrument
Mayo Stand
Surgical tech
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
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Gestonurse: Architecture
Jacob, M.; Li, Y-T; Akingba, G., Wachs, J. 'Gestonurse' a robotic surgical nurse for handling surgical instruments in the operating room. Journal of Robotic Surgery. ISSN: 1863-2483. pp. 1-11, 2011.
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
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Gestonurse: Comparison of Modalities• Experiments were conducted on 12 graduate and
undergraduate students (8 males and 4 females aged between 20-30 years) on the completion of a mock surgical task simulating an abdominal incision and closure.
• The task required a total of 5 instrument classes: scalpel (1), scissors (1), needle (1), retractor (1) and hemostat (4).
"Does a robotic scrub nurse improve economy of movements?". J. Wachs., M. Jacob, Y.T, Li, .(2012). Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling. Proceedings of the SPIE, Volume 8316, pp. 83160E-83160E-7 (2012).
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
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Gestonurse: Comparison of Modalities
Gesture Speech Gesture+Speech0
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Ave
rage
Tas
k C
ompl
etio
n T
ime
(sec
)
With Training
Without Training
Jacob, M.; Li, Y-T; Akingba, G., Wachs, J . A Cyber-Physical Management System for Delivering and Monitoring Surgical Instruments in the OR.. Surgical Innovations. 2012
Learning curves Task completion time
1 2 3 4 5 6
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Trial #
Task
Com
plet
ion
Tim
e (s
ec)
Trained
Log (Trained)
UntrainedLog (Untrained)
Error (Trained)
Error (Untrained)
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
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M. Jacob, YT. Li, G. Akingba. J. Wachs* (2012). Collaboration with a Robotic Scrub Nurse. Communications of the ACM. Cover Article. 56(5), 68-75.
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
www.indianactsi.org
ACCELERATING CLINICAL AND TRANSLATIONAL RESEARCH
www.indianactsi.org