Trauma Pod/Operating Room of the Future

摘要

The University of Texas at Austin (UTA) has played a central role in the trauma pod project and has been responsible for the following: (1) systems engineering and design from a robotics perspective, (2) a 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 also was performed in Q3 and Q4. This led to the specification of all subsystem positions and orientations 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 data transfer from other subsystems. The 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; 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 it. 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.