Trauma Pod/Operating Room of the Future
Abstract
The University of Texas (UTA) has played a central role in the trauma pod project and has been responsible for: 1) systems engineering and design from a robotics perspective, 2) high fidelity 3D simulator, 3) motion planning software for the scrub nurse systems, and 4) the supervisory control system (SCS). In systems engineering and design, UTA specified a hierarchical control architecture for the trauma pod and also recommended a communications architecture that allowed peer-to-peer communications. Detailed task analysis for tool change, supply dispense and calibration was performed. This led to the identification of timing bottlenecks and modifications to trauma pod design. Another result of the task analysis was the identification of subsystem functional interfaces. Detailed layout and timing analysis was also performed in Q3 and Q4. This led to the specification of all subsystem position and orientation along with other coordinates related to robot motion. A high fidelity 3D simulator was delivered by Q2. This simulator supports integrated collision detection, multiple camera views, and software interfaces for other subsystems to send sensor data to it. First version of the motion planning software was done in Q1. This supported kinematic control functionality along with limit avoidance capability. Since then, obstacle avoidance and collision detection capability has been added and this software is currently controlling robot hardware. The supervisory control system is central to the operation of the trauma pod. It accepts commands from the user interface system. These commands are translated into subsystem specific commands by the SCS using a task execution engine that is built into the SCS. Till Q4, two versions of the SCS have been released. These included scripted task execution capability. Over the next year, pod level collision detection, automated task execution, alarm handling and cancellation, and calibration functionality will be added.
Document Details
- Document Type
- Technical Report
- Publication Date
- Feb 01, 2006
- Accession Number
- ADA448558
Entities
People
- Chalongarh Pholsiri
- Chetan Kapoor
- Delbert Tesar
- Edwin Jung
- Greg Giem
- Jonathan Knoll
Organizations
- University of Texas at Austin