A Novel 3D Camera Based Supervision System for Safe Human-Robot Interaction in the Operating Room - Volume 3, No. 5, October, 2015 - Journal of Automation and Control Engineering (JOACE)

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A Novel 3D Camera Based Supervision System for Safe Human-Robot Interaction in the Operating Room

P. Nicolai, J. Raczkowsky, and H. Wörn
Karlsruhe Institute of Technology, Karlsruhe, Germany
Abstract—In anticipation of upcoming technological advances in the operating room, it is necessary to already give thought to how humans and robots can safely interact and cooperate in the operating room of the future. In this paper, we present a supervision system, consisting of seven 3D cameras, and the according shape cropping algorithm, which allows verifying the correct setup of surgical robots, detecting potential collisions between robots and their surroundings as well as monitoring the correctness of the robots’ motions. The system has already been successfully implemented, set up and evaluated.

Index Terms—robot assisted surgery, surgical robots, human-machine interaction, scene supervision

Cite: P. Nicolai, J. Raczkowsky, and H. Wörn, "A Novel 3D Camera Based Supervision System for Safe Human-Robot Interaction in the Operating Room," Jounal of Automation and Control Engineering, Vol. 3, No. 5, pp. 410-417, October, 2015. doi: 10.12720/joace.3.5.410-417
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