Interface issues in robot scrub nurse design.
2011-12
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Interface issues in robot scrub nurse design.
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2011-12
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Thesis or Dissertation
Abstract
The idea of a robot providing assistance in the medical field is very promising. Due
to the myriad of unresolved issues a full therapist robot is still out of our reach. In this
study we approach the problem in an application area that is sufficiently constrained to
allow us a certain degree of practical success. Concretely we present a system description
of a robotic scrub nurse (RSN) for microsurgery. We identify robot interfacing as a
crucial problem to be solved. In that regard we examine how spoken language could
be utilized, how vision could guide robot motion, and finally we examined human-robot
interaction at the haptic level. For the haptic interface we have designed and evaluated
a shape conforming grasp mechanism. Such an approach is uncommon in the robotic
industry where per-task adapter-style exchangeable grasping mechanisms are mounted
on the robot for each run. While industrial robots deal with few instruments and must
lift heavy weights, our problem domain contains hundreds of instruments and prohibits
any type of crushing or cutting movements. Our results provide an integration study of
the various components for assistant robots. Furthermore we contribute novel insights
in the design of grasp planning methods, visual tracking methods and natural language
dialogue systems.
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University of Minnesota Ph.D. dissertation. December 2011. Major:Electrical Engineering. Advisors: Prof. Nikolaos Papanikolopoulos, Prof. Ahmed Tewfik. 1 computer file (PDF); x, 111 pages, appendix A.
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Agovic, Amer. (2011). Interface issues in robot scrub nurse design.. Retrieved from the University Digital Conservancy, https://hdl.handle.net/11299/119659.
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