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Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy

Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused... Current Directions in Biomedical Engineering 2019 ;5(1):149-152 Johann Berger*, Michael Unger, Lisa Landgraf and Andreas Melzer Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy Abstract: The integration of surgical robotics into the radiation therapy (FUS-RT) to position interventional devices operating room requires reliable and flexible communication with two collaborative KUKA arms [3, 4]. Utilizing two with other medical devices. The IEEE 11073 SDC standard robots thereby allows for the flexible steering of a can provide the necessary requirements to deploy robotics for therapeutic FUS transducer and an ultrasound imaging probe the application of focused ultrasound in radiation therapy. for intraoperative target control respectively. Ensuring the The aim of this work was to implement and evaluate an SDC robots safe behaviour in collaborative situations with compliant connection between two collaborative robots. For physicians and multiple other devices in radiation therapy, this purpose, the KUKA LBR iiwa 7 R800 was adapted and e.g. radiation units (LINAC) or computed tomography (CT), the connectivity modelled and then tested successfully with a highly sophisticated information exchange is implied. The 42 transmittable properties. Latency measurements were aim of this work is to implement a reliable and safe SDC conducted to evaluate the network stability, resulting in a compliant communication for collaborative robots (KUKA median round trip time of 10.13 ms. LBR iiwa as an example) and to evaluate the correct functionality and signal transmission speed. Keywords: IEEE 11073 SDC, Collaborative Robotics, 2 Material and Methods KUKA, Focused Ultrasound, Radiation Therapy https://doi.org/10.1515/cdbme-2019-0038 The properties of the KUKA LBR iiwa 7 R800 robot series (KUKA AG, Germany) were modeled and implemented inside the SDC conform medical device description. To share all necessary information via network 1 Introduction the position, torque, stiffness, damping, velocity and functional state for each of the 7 robot joints were Human-robot collaborative systems allow for flexible represented resulting in a total of 42 parameters. The and swift operation in complex workspaces and can, evaluation of two connected KUKA robots was performed therefore, provide great benefit in clinical applications. with the setup shown in Fig 1. Deployment designs and safety measures to overcome known technical drawbacks during human interaction have already been introduced [1]. However, to integrate surgical robotic systems into the operating room (OR) a fast and reliable communication between all present devices has to be assured as well. The IEEE 11073 SDC (Service-oriented Device Connectivity) standard that was developed in the OR.NET project allows for a dynamic and vendor independent medical device-interconnection [2]. We have shown concepts and evaluations towards a combined focused ultrasound and ______ Figure 1: The evaluation setup of two KUKA LBR iiwa 7 R800 *Corresponding author: Johann Berger: Innovation Center robots with their respective work station PCs connected via Computer Assisted Surgery (ICCAS), Leipzig, Germany, e-mail: Ethernet. johann.berger@medizin.uni-leipzig.de Michael Unger, Lisa Landgraf, Andreas Melzer: Innovation Center Computer Assisted Surgery (ICCAS), Leipzig, Germany Open Access. © 2019 Johann Berger et al., published by De Gruyter. This work is licensed under the Creative Commons Attribution 4.0 License. J. Berger et al., Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy — 150 Both robots were controlled by a work station accessing 3 Results the KUKA controller cabinet with ROS (Robot Operating System) via the iiwa_stack application provided by All appliances (SDC standard compatible) in the robots Hennersperger et al. [5]. The accessibility of information network can react to state changes and send movement and between the devices is provided within the SDC provider- planning commands to the robot via activations. After initial consumer pattern, which was implemented in C++ utilizing testing, all of the 42 defined parameters are accessible and the SDCLib/C solution [6]. Both systems were connected changeable. The RTT measurements are provided in with a NETGEAR 8 Port 10/100 Mbps Fast Ethernet Switch. milliseconds in Fig. 3 as a percentile representation. Firstly, the correct provider functionality was tested by accessing and changing the states for each robot parameter remotely via network with a simple SDC consumer application. Secondly, a transmission speed evaluation was conducted by implementing a consumer-robot (CR) subscribing to the states of a provider-robot (PR) to mirror the joint positions between both devices. Given this setup, network round trip times (RTT) of 20 movement commands for each of the 7 joints and the respective state change messages were measured, resulting in 140 acquisitions. Each movement command for the PR was triggered by an activation message of the CR. The PR reacted accordingly and sent a state change message back to the CR after triggering the movement. On receiving the response message the CR adjusted its own position. The RTT in this setup is defined as the difference between two timestamps t0 and t1, with t0 being the time point directly before sending a Figure 2: Percentile representation (1 to 100%) of the measured movement command to the PR and t1 the time point directly round trip times in the evaluation setup. before the mirroring command at the CR. The measured time, therefore, represents the duration it takes for the CR to react to a movement of the PR. To avoid time synchronization The measured latencies varied between a minimum of issues, all time points were recorded on the consumer work 8.54 ms and maximum of 15.01 ms. The median RTT was station. Fig. 2 provides a simplified overview of the systems measured as 10.13 ms and the standard deviation over all communication flow. measured durations as 1.56 ms. 4 Discussion and Conclusion The robots functionality was successfully implemented inside the SDC standard, allowing for dynamic changes of its position, torque, stiffness, damping, velocity and functional states during interventions. This enables the robot to be integrated into any networked OR that supports the SDC standard. After testing the communication, all necessary information can be safely accessed. To be able to react swiftly in critical situations in the OR, fast transmission of changes in the robots state is mandatory. The measurements of the RTT for movements and resulting changes provide promising results. Transmission times of 15.01 ms and below Figure 3: Overview of the communication flow of the evaluation assure a real-time-controllability of the KUKA robot systems setup consisting of two robots (provider and consumer) and their respective work station PCs. The recording points of t0 in collaborative environments and a standard deviation of and t1 are presented in brackets. 1.56 ms shows sufficient network stability for the setup of J. Berger et al., Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy — 151 two robots. This is also represented visually in the percentile References graph, showing no abrupt changes in transmission speed. By [1] Michalos G, Makris S, Tsarouchi P, Guasch T, Kontovrakis implementing the information exchange with the SDC D, Chryssolouris G (2015). Design considerations for safe standard, a highly flexible and reliable OR setup is, therefore, human-robot collaborative workplaces. Procedia CIrP, 37: possible. However, since the measurements were only 248-253. [2] Kasparick M, Schmitz M, Andersen B, Rockstroh M, Franke conducted for the network transitions, further investigations S, Schlichting S, Golatowski F, Timmermann D (2018) have to be performed. In future studies, the collaborative OR.NET: a service-oriented architecture for safe and interaction for the specific clinical use case of a combined dynamic medical device interoperability. In: Biomedical radiation and focused ultrasound therapy will be evaluated. In Engineering/Biomedizinische Technik, 63: 11-30. https://doi.org/10.1515/bmt-2017-0020 this scenario, not only information transfer but also robotic [3] Berger J, Unger M, Landgraf L, Bieck R, Neumuth T, Melzer movement as a reaction to safety-critical situations has to be A (2018) Assessment of Natural User Interactions for Robot- considered. Assisted Interventions. In: Current Directions in Biomedical Engineering, 4: 165-168. https://doi.org/10.1515/cdbme- 2018-0041 [4] Berger J, Unger M, Keller J, Bieck R, Landgraf L, Neumuth T, Melzer A (2018) Kollaborative Interaktion für die roboterassistierte ultraschallgeführte Biopsie. In: CURAC Tagungsband. Author Statement [5] Hennersperger C, Fuerst B, Virga S, Zettinig O, Frisch B, Neff T, Navab N (2017). Towards MRI-based autonomous Research funding: The research leading to these results has robotic US acquisitions: a first feasibility study. IEEE received funding from Bundesministerium für Bildung and transactions on medical imaging, 36(2): 538-548. Forschung (BMBF) under grant No.03Z1L511 (SONO-RAY https://doi.org/10.1109/TMI.2016.2620723 project). Conflict of interest: Authors state no conflict of [6] SurgiTAIX AG. Service-oriented Device Connectivity Library (SDCLib/C). https://github.com/surgitaix/sdclib interest. Informed consent: Informed consent has been Accessed 20 March 2019 obtained from all individuals included in this study. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Current Directions in Biomedical Engineering de Gruyter

Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy

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de Gruyter
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© 2019 by Walter de Gruyter Berlin/Boston
eISSN
2364-5504
DOI
10.1515/cdbme-2019-0038
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Abstract

Current Directions in Biomedical Engineering 2019 ;5(1):149-152 Johann Berger*, Michael Unger, Lisa Landgraf and Andreas Melzer Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy Abstract: The integration of surgical robotics into the radiation therapy (FUS-RT) to position interventional devices operating room requires reliable and flexible communication with two collaborative KUKA arms [3, 4]. Utilizing two with other medical devices. The IEEE 11073 SDC standard robots thereby allows for the flexible steering of a can provide the necessary requirements to deploy robotics for therapeutic FUS transducer and an ultrasound imaging probe the application of focused ultrasound in radiation therapy. for intraoperative target control respectively. Ensuring the The aim of this work was to implement and evaluate an SDC robots safe behaviour in collaborative situations with compliant connection between two collaborative robots. For physicians and multiple other devices in radiation therapy, this purpose, the KUKA LBR iiwa 7 R800 was adapted and e.g. radiation units (LINAC) or computed tomography (CT), the connectivity modelled and then tested successfully with a highly sophisticated information exchange is implied. The 42 transmittable properties. Latency measurements were aim of this work is to implement a reliable and safe SDC conducted to evaluate the network stability, resulting in a compliant communication for collaborative robots (KUKA median round trip time of 10.13 ms. LBR iiwa as an example) and to evaluate the correct functionality and signal transmission speed. Keywords: IEEE 11073 SDC, Collaborative Robotics, 2 Material and Methods KUKA, Focused Ultrasound, Radiation Therapy https://doi.org/10.1515/cdbme-2019-0038 The properties of the KUKA LBR iiwa 7 R800 robot series (KUKA AG, Germany) were modeled and implemented inside the SDC conform medical device description. To share all necessary information via network 1 Introduction the position, torque, stiffness, damping, velocity and functional state for each of the 7 robot joints were Human-robot collaborative systems allow for flexible represented resulting in a total of 42 parameters. The and swift operation in complex workspaces and can, evaluation of two connected KUKA robots was performed therefore, provide great benefit in clinical applications. with the setup shown in Fig 1. Deployment designs and safety measures to overcome known technical drawbacks during human interaction have already been introduced [1]. However, to integrate surgical robotic systems into the operating room (OR) a fast and reliable communication between all present devices has to be assured as well. The IEEE 11073 SDC (Service-oriented Device Connectivity) standard that was developed in the OR.NET project allows for a dynamic and vendor independent medical device-interconnection [2]. We have shown concepts and evaluations towards a combined focused ultrasound and ______ Figure 1: The evaluation setup of two KUKA LBR iiwa 7 R800 *Corresponding author: Johann Berger: Innovation Center robots with their respective work station PCs connected via Computer Assisted Surgery (ICCAS), Leipzig, Germany, e-mail: Ethernet. johann.berger@medizin.uni-leipzig.de Michael Unger, Lisa Landgraf, Andreas Melzer: Innovation Center Computer Assisted Surgery (ICCAS), Leipzig, Germany Open Access. © 2019 Johann Berger et al., published by De Gruyter. This work is licensed under the Creative Commons Attribution 4.0 License. J. Berger et al., Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy — 150 Both robots were controlled by a work station accessing 3 Results the KUKA controller cabinet with ROS (Robot Operating System) via the iiwa_stack application provided by All appliances (SDC standard compatible) in the robots Hennersperger et al. [5]. The accessibility of information network can react to state changes and send movement and between the devices is provided within the SDC provider- planning commands to the robot via activations. After initial consumer pattern, which was implemented in C++ utilizing testing, all of the 42 defined parameters are accessible and the SDCLib/C solution [6]. Both systems were connected changeable. The RTT measurements are provided in with a NETGEAR 8 Port 10/100 Mbps Fast Ethernet Switch. milliseconds in Fig. 3 as a percentile representation. Firstly, the correct provider functionality was tested by accessing and changing the states for each robot parameter remotely via network with a simple SDC consumer application. Secondly, a transmission speed evaluation was conducted by implementing a consumer-robot (CR) subscribing to the states of a provider-robot (PR) to mirror the joint positions between both devices. Given this setup, network round trip times (RTT) of 20 movement commands for each of the 7 joints and the respective state change messages were measured, resulting in 140 acquisitions. Each movement command for the PR was triggered by an activation message of the CR. The PR reacted accordingly and sent a state change message back to the CR after triggering the movement. On receiving the response message the CR adjusted its own position. The RTT in this setup is defined as the difference between two timestamps t0 and t1, with t0 being the time point directly before sending a Figure 2: Percentile representation (1 to 100%) of the measured movement command to the PR and t1 the time point directly round trip times in the evaluation setup. before the mirroring command at the CR. The measured time, therefore, represents the duration it takes for the CR to react to a movement of the PR. To avoid time synchronization The measured latencies varied between a minimum of issues, all time points were recorded on the consumer work 8.54 ms and maximum of 15.01 ms. The median RTT was station. Fig. 2 provides a simplified overview of the systems measured as 10.13 ms and the standard deviation over all communication flow. measured durations as 1.56 ms. 4 Discussion and Conclusion The robots functionality was successfully implemented inside the SDC standard, allowing for dynamic changes of its position, torque, stiffness, damping, velocity and functional states during interventions. This enables the robot to be integrated into any networked OR that supports the SDC standard. After testing the communication, all necessary information can be safely accessed. To be able to react swiftly in critical situations in the OR, fast transmission of changes in the robots state is mandatory. The measurements of the RTT for movements and resulting changes provide promising results. Transmission times of 15.01 ms and below Figure 3: Overview of the communication flow of the evaluation assure a real-time-controllability of the KUKA robot systems setup consisting of two robots (provider and consumer) and their respective work station PCs. The recording points of t0 in collaborative environments and a standard deviation of and t1 are presented in brackets. 1.56 ms shows sufficient network stability for the setup of J. Berger et al., Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy — 151 two robots. This is also represented visually in the percentile References graph, showing no abrupt changes in transmission speed. By [1] Michalos G, Makris S, Tsarouchi P, Guasch T, Kontovrakis implementing the information exchange with the SDC D, Chryssolouris G (2015). Design considerations for safe standard, a highly flexible and reliable OR setup is, therefore, human-robot collaborative workplaces. Procedia CIrP, 37: possible. However, since the measurements were only 248-253. [2] Kasparick M, Schmitz M, Andersen B, Rockstroh M, Franke conducted for the network transitions, further investigations S, Schlichting S, Golatowski F, Timmermann D (2018) have to be performed. In future studies, the collaborative OR.NET: a service-oriented architecture for safe and interaction for the specific clinical use case of a combined dynamic medical device interoperability. In: Biomedical radiation and focused ultrasound therapy will be evaluated. In Engineering/Biomedizinische Technik, 63: 11-30. https://doi.org/10.1515/bmt-2017-0020 this scenario, not only information transfer but also robotic [3] Berger J, Unger M, Landgraf L, Bieck R, Neumuth T, Melzer movement as a reaction to safety-critical situations has to be A (2018) Assessment of Natural User Interactions for Robot- considered. Assisted Interventions. In: Current Directions in Biomedical Engineering, 4: 165-168. https://doi.org/10.1515/cdbme- 2018-0041 [4] Berger J, Unger M, Keller J, Bieck R, Landgraf L, Neumuth T, Melzer A (2018) Kollaborative Interaktion für die roboterassistierte ultraschallgeführte Biopsie. In: CURAC Tagungsband. Author Statement [5] Hennersperger C, Fuerst B, Virga S, Zettinig O, Frisch B, Neff T, Navab N (2017). Towards MRI-based autonomous Research funding: The research leading to these results has robotic US acquisitions: a first feasibility study. IEEE received funding from Bundesministerium für Bildung and transactions on medical imaging, 36(2): 538-548. Forschung (BMBF) under grant No.03Z1L511 (SONO-RAY https://doi.org/10.1109/TMI.2016.2620723 project). Conflict of interest: Authors state no conflict of [6] SurgiTAIX AG. Service-oriented Device Connectivity Library (SDCLib/C). https://github.com/surgitaix/sdclib interest. Informed consent: Informed consent has been Accessed 20 March 2019 obtained from all individuals included in this study.

Journal

Current Directions in Biomedical Engineeringde Gruyter

Published: Sep 1, 2019

Keywords: IEEE 11073 SDC; Collaborative Robotics; KUKA; Focused Ultrasound; Radiation Therapy

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