Chapter

Robot Operating System (ROS)

Volume 625 of the series Studies in Computational Intelligence pp 317-342

Date:

ROS-Based Cognitive Surgical Robotics

  • Andreas BihlmaierAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT) Email author 
  • , Tim BeylAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)
  • , Philip NicolaiAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)
  • , Mirko KunzeAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)
  • , Julien MintenbeckAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)
  • , Luzie SchreiterAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)
  • , Thorsten BrenneckeAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)
  • , Jessica HutzlAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)
  • , Jörg RaczkowskyAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)
    • , Heinz WörnAffiliated withInstitute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR), Karlsruhe Institute of Technology (KIT)

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Abstract

The case study at hand describes our ROS-based setup for robot-assisted (minimally-invasive) surgery. The system includes different perception components (Kinects, Time-of-Flight Cameras, Endoscopic Cameras, Marker-based Trackers, Ultrasound), input devices (Force Dimension Haptic Input Devices), robots (KUKA LWRs, Universal Robots UR5, ViKY Endoscope Holder), surgical instruments and augmented reality displays. Apart from bringing together the individual components in a modular and flexible setup, many subsystems have been developed based on combinations of the single components. These subsystems include a bimanual telemanipulator, multiple Kinect people tracking, knowledge-based endoscope guidance and ultrasound tomography. The platform is not a research project in itself, but a basic infrastructure used for various research projects. We want to show how to build a large robotics platform, in fact a complete lab setup, based on ROS. It is flexible and modular enough to do research on different robotics related questions concurrently. The whole setup is running on ROS Indigo and Ubuntu Trusty (14.04). A repository of already open sourced components is available at https://​github.​com/​KITmedical.

Keywords

Cognitive robotics Medical robotics Minimally-invasive surgery Modular research platform