basicaMedical Robotics

Since 2004, our group has been pioneering medical robotics using geometric methods. We have been developing medical robot units using Clifford’s geometric algebra for processing medical images. In addition, we have worked on the development of a neuronavigator for non-invasive brain surgery using stereo endoscopes and ultrasound as the treatment of Computer Tomography (CT) and Magnetic Resonance Imaging (MRI). The laboratory has a Polaris camera, an ultrasound system for endoscopy with 4 and 10 mm stereo endoscopes. The navigator has a data register module of the patient’s brain with an atlas of the same, which gives the neurosurgeon comfortable guidance in the operating phase. We have developed new geometric algorithms such as the Marching Spheres Algorithm for real time 3D reconstruction of aneurysms and tumors, as well as a Convex Hull geometric method for brain structures and tumors.

We are currently developing a modest version of the Leonardo da Vinci for kidney function: urinary obstructions, extirpation of cancerous tissue, and guides for transplants. The system has three robotic arms, working together and guided by haptic interfaces, as well as RGB-d pressure sensors. The robotic arms manipulate a stereo endoscope and instruments for non-invasive surgical procedures, such as clamps, scalpels, needles, and 4 and 10 mm stereo endoscopes, as in an ultrasound. We hope to fabricate the three manipulators at a fraction of the size, weight, and cost in a later phase. The same system is used with a single manipulator for developing algorithms for minimally invasive knee surgeries. The ultimate purpose is to produce a low cost system for Mexican hospitals.

The work with humanoid robotics allows us to further develop this project beyond basic research, as well as to generate subproducts, such as bionic hands and feet, and an intelligent SMART-GUIDE guidance system for the visually impaired, which consists of two cameras, IMU, GPS, sound sensors, and a miniature computer that connects to a remote server to receive support from cyberspace, similar to a cell phone. This device generated two patents.