IROS 2017 Workshop

Shared Platforms for Medical Robotics Research

Workshop Date: Sept. 24, 2017

Affiliated with: IROS 2017

Venue: Vancouver Convention Centre, Rooms 114/115

Shared hardware and software platforms for robotic systems have the great potential to foster collaboration between groups and to accelerate the progress of technology development. In the medical robotics community, a variety of common research platforms and software frameworks have emerged, such as the RAVEN II, the da Vinci Research Kit (dVRK), and the KUKA Lightweight Arm. The community around these platforms has joined together to support development of a common API, utilizing the Robot Operating System (ROS), and high-level software components to enable research.

The goals of this workshop are to more broadly engage the surgical robotics community, leverage the momentum of the existing community by presenting the latest developments, and to define the roadmap for future enhancements.

We are soliciting extended abstracts, 1-2 pages in length, for possible oral or poster presentation during Session 2.  Accepted abstracts will be posted on the workshop website.  Abstracts should fit the theme of the workshop and focus on shared platforms and software or on research enabled by shared platforms and software. Please submit your abstract (PDF only) by email to shared-platforms-iros-2017@googlegroups.com. We recommend that you use the IEEE abstract templates: LateX template and MS Word templateThe deadline for abstract submission is July 31, 2017 August 7, 2017.

Organizers

  • Peter Kazanzides, Johns Hopkins University, pkaz@jhu.edu
  • Gregory S. Fischer, Worcester Polytechnic Institute, gfischer@wpi.edu
  • Simon DiMaio, Intuitive Surgical, Inc., simon.dimaio@intusurg.com
  • Tamás Haidegger, Óbuda University, haidegger@irob.uni-obuda.hu
  • Blake Hannaford, University of Washington, blake@ee.washington.edu

Program

  • 09:00 Welcome and Introduction
  • 09:10 Session 1: Research Platforms
    • 9:10-9:25 “The RAVEN-II open source surgical robot platform” (slides) [Blake Hannaford]
    • 9:25-9:40 “dVRK—The da Vinci Research Kit” (slides) [Simon DiMaio, Jie Ying Wu]
    • 9:40-9:55 “Progress toward a Common API via ROS” (slides) [Peter Kazanzides]
    • 9:55-10:00 Poster Teasers
  • 10:00 Coffee Break and Poster Session
    • Extended coffee break until 10:45 for additional time at posters:
    • Da Vinci research kit: PSM and MTM dynamic modelling” [Luigi Villani]
    • “Scaling the Autonomy of Surgical Robots” [Tamás Haidegger]
    • “MR Link: ORiN-based Medical Robot Architecture for Connecting Freely-Selected Master/Slave Robotic Devices” [Noriyasu Iwamoto]
    • “iiwa stack: a ROS Enabler Framework for the Next Generation KUKA Lightweight Robot” [Salvatore Virga]
    • “Technique and Initial experience with da Vinci Robot Assisted Photoacoustic Imaging” [Hamid Moradi]
  • 10:45 Session 2: Research Presentations
  • 12:30 Lunch (on your own)
  • 14:00 Session 3: Surgeon Panel on Clinical Needs
    • Panelists (in alphabetical order):
      • Dr. Peter Black, Vancouver Prostate Centre
      • Dr. Randy Bly, Seattle Children’s Hospital and University of Washington
      • Dr. James Drake, Sick Kids Hospital, Toronto
      • Dr. Bob Kiaii, London Cardiac Institute
      • Dr. Kris Moe, Univ. of Washington Medical Center
      • Dr. Chris Nguan, Vancouver General Hospital
      • Dr. Laligam Sekhar, Univ. of Washington Medical Center
  • 16:00 Coffee Break
  • 16:30 Session 4: Community Forum and Summary Discussion
    • Topics:
      • Current plans for community infrastructure evolution
      • Current gaps and future needs for community infrastructure in surgical robotics research.
      • Collaboration and communication mechanisms: benefits and shortcomings.
      • Funding challenges and solutions for collaborative research.
    • Expected Outcomes:
      • Identify and prioritize actionable focus areas.
      • Summary of prioritized infrastructure enhancements.
  • 17:30 Adjourn

Synergistic Events

There will be a Raven/dVRK User Group meeting at the University of British Columbia (UBC) on Saturday, September 23, 2017 (the day before the workshop).

Also, ROSCon will be held on the Thursday and Friday (Sept. 21-22) before the Workshop and User Group meeting.  Further details on their website.