Autonomous Robotics in Medicine

Michael Saracen

February 11, 2009

Agenda

Advances in Medicine Problem Opportunity Current use of Robotics Case Studies Summary

Advances in Medicine

Medicine continues to grow and expand regardless of economic situation

Advances are increasing lifespan Computers have entered medicine and driving new

technologies Minimally invasive procedures are driving costs and

complications down Greater demand for precision and accuracy

Advances in Medicine

Advances in diagnostics are driving more targeted treatments Treating disease while sparing healthy tissue

Advances in imaging are altering treatment Early detection provides more options Combining modalities improves treatment

Better Targeting

Better Targeting

Better Targeting

Everything is relative…

What we want to avoid…

What we want to avoid…

Why Robotics?

Mobility Repeatability Precision Accuracy

Medical Robotics

Positioning Ultrasound

ProbeHospital Courier

Telemedicine

In-Vivo SurgeryPatient

Assistant

Mixing Chemotherapy

Drugs

Operational Procedural

Surgical Component

Non-invasiveRadiation

Medical Robotics

Various functions Improve operational efficiencies Interact with Patient

• Patient Telemedicine

• Patient aide Employed in procedures

Types of control Autonomous – CyberKnife treatment Programmable – Robotic patient positioner Master slave – Da Vinci

Linear Accelerator

Manipulator

ImageDetectors

X-ray Sources

IMAGINGSYSTEM

ROBOTICDELIVERYSYSTEM

TARGETING SOFTWARE

Case Study 1

Robotic Patient Positioning

Conventional Treatment Couch

Limited Mobility Only four degrees of freedom Fixed mechanical axis

Limited repeatability No spatial relationship between each axis Manually driven

Limited loading positions Limited treatment positions

The Problem…

Patients can be positioned differently from simulation to treatment Cannot account for rotations

Manual movement of the couch is often jerky and less accurate Iterative process Accuracy is often compromised for time (maintain

high throughput) Complex immobilization devices are required to

position patient Breast treatments

Current Couch Limitations

Patient marks

External Patient Marks

Simulation Treatment

Room LasersRotation Inaccuracy

Benefits of Robotic Positioning

Room LasersRoom LasersRotation Inaccuracy

Absolution Correction

Design Considerations

Reach Clearance Comfort Intimidation factor Footprint

Design Considerations

Design Considerations

A5

A6

A4

A3

A2

A1

Safety Consideration

Software limits on robot controller Limit switches on the robot “wrist” to prevent excess

rotations Limit switches on the vertical travel Contact detection on upper arm of robot Enable button on hand pendant E-Stop button on hand controller Couch can lower for patient egress during power

outage