Hand-eye Coordination and Biomechanics in Cognitive Surgical Robotics

Abstract

Computer aided surgery and computer assisted robotic surgery are having more and more impact on medical care. This paper presents the architecture and work flow of an intelligent surgical robotic system that we are developing. Our robotic surgical system is designed to augment and enhance the hand-eye coordination capability of the surgeon during operation in order to achieve the desired outcome and reduce invasiveness. By incorporating advances in surgical simulation and robot-assisted surgery, patient specific surgical plans can be derived with robot manipulation included. This highly autonomous robot is also provided high level of intelligence by cognitive engine, a key component of the system, for effective collaboration with the surgical team. A design of human-robot collaborative control is proposed in this paper as well.