Technobiomed, A.I. Yevdokimov Moscow State University of Medicine and Dentistry, Delegatskaya st. 20/1, Moscow, 127473, Russian Federation.
J Robot Surg. 2023 Aug;17(4):1721-1733. doi: 10.1007/s11701-023-01580-4. Epub 2023 Mar 28.
This paper discusses the architecture and implementation of a modular component of the smart operating theater digital twin, designed to control robotic equipment-the robot interface module. This interface is designed to ensure equipment operation both in a real smart operating theater and in the virtual space of its digital twin-the computer simulation. Using such an interface in the digital twin will make it possible to use it in computer-assisted training of surgeons, preliminary planning, post-analysis, and simulation, preceding the operation of real equipment. An experimental implementation of a prototype robot interface to enable the KUKA LBR Med 14 R820 medical robot operation using the FRI protocol was developed, and experiments were performed on real equipment and its digital twin.
本文讨论了智能手术室数字孪生体的模块化组件的架构和实现，该组件旨在控制机器人设备——机器人接口模块。该接口旨在确保在真实智能手术室和其数字孪生体（计算机模拟）的虚拟空间中设备的运行。在数字孪生体中使用这种接口，可以在计算机辅助外科医生培训、初步规划、后分析和模拟中使用它，在实际设备操作之前进行。开发了一种使用 FRI 协议实现 KUKA LBR Med 14 R820 医疗机器人操作的原型机器人接口的实验实现，并在真实设备及其数字孪生体上进行了实验。
