Robot Operating System (ROS) pp 317-342

Part of the Studies in Computational Intelligence book series (SCI, volume 625)

ROS-Based Cognitive Surgical Robotics

  • Andreas Bihlmaier
  • Tim Beyl
  • Philip Nicolai
  • Mirko Kunze
  • Julien Mintenbeck
  • Luzie Schreiter
  • Thorsten Brennecke
  • Jessica Hutzl
  • Jörg Raczkowsky
  • Heinz Wörn
Chapter

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 

Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • Andreas Bihlmaier
    • 1
  • Tim Beyl
    • 1
  • Philip Nicolai
    • 1
  • Mirko Kunze
    • 1
  • Julien Mintenbeck
    • 1
  • Luzie Schreiter
    • 1
  • Thorsten Brennecke
    • 1
  • Jessica Hutzl
    • 1
  • Jörg Raczkowsky
    • 1
  • Heinz Wörn
    • 1
  1. 1.Institute for Anthropomatics and Robotics (IAR), Intelligent Process Control and Robotics Lab (IPR)Karlsruhe Institute of Technology (KIT)KarlsruheGermany

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