Robótica Médica
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Human-machine interfaces

Interfaces carried out


PDA-based interface.The use of a PDA device makes possible a comfortable communication with the robot assistant. It does not only emit motion commands to the robot assistant but it can also carry out a series of supervision tasks. Specifically, it can be used to obtain information from the status of the robot, motion precision, or to keep a record of all performed activities. The right figure shows the images of the PDA-based interface.

 

Speech command recognition

Speech command recognition. It is a system containing DSP-based speech recognition software. In such system, the coded motion commands can be digitally sent to the robot assistant. With that, the problem resulting from the interferences of the analog transmissions-based solutions is solved. Besides, users can add the voice profile to their cards so the only orders to be recognized are those coming from the selected profile. In the picture on the left, it can be appreciated the developed system.

 

 

Surgical gesture Surgical gesture recognitionrecognition. The recognition of the surgeon’s surgical gestures or manoeuvres along the intervention permits to know the current situation of the surgical protocol. This provides a more natural and comfortable communication between the surgeon and / or the robot, and so it is considered as an alternative way for sending orders or commands. A manoeuvres library and a manoeuvres recognition system have been constructed in order to recognize the current surgeon’s manoeuvre. It is achieved by means of a surgical task modeling in which the Hidden Markov Models have been used. The recognition system includes a data collection system that informs about the surgeon’s surgical tools positioning using 3D sensors, and in this way the tool interactions are achieved.

 

 

Multimodal interface

 

Multimodal interface. The development of a robotic assistant for laparoscopic procedures, which can semi-autonomously operate working with the surgeon in the management of the optic and the additional support tool, has provided the interface design with new challenges. The required interface to control this kind of robot should not overload the surgeon with many commands and button bars, reason why it has been developed a system which can recognize the surgeon’s surgical gestures in order to know the current intervention phase or the specific surgeon’s commands. The multimodal interface combines both the gestural and voice commands in such a way that it is similar to the relationship between the surgeon and the human assistant.

 

 

 

 

 

See publication: Human-machine interfaces

 

 

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