Geometric Intuitive Techniques for Human Machine Interaction in Medical Robotics

Abstract

This work introduces a modern and intuitive geometric language to support and to enhance the handling of different tasks in medical robot vision. By reformulating screw theory (generalization of quaternions) in the conformal geometric algebra framework, we address the hand eye calibration, 3D model registration using Kinect, interpolation, haptics, virtual reality, graphics engineering, navigation and guided surgery. The contribution of this work is the use of conformal geometric algebra to solve some key computational issues in medical robot vision without the need to leave the mathematical framework. The experimental analysis shows promising possibilities for the use of this powerful geometric language to handle multiple tasks in minimal invasive medical robotics. For this goal, we use the geometric algebra language as a vehicle between the surgeon, haptics and the organ in the virtual and real world, this language relate the surgeon approach stimulating the surgeon’s intuition based on the utilization of geometric entities and geometric properties of the organ and the surgery itself. Readers can use this geometric language for different applications in graphic engineering and robotics as well.