The HipRob experiment is going according to plan.

Both the co-manipulation robot controller and the ultrasound system are working and are now being prepared for integration

Robot Controller:

For the robot controller both co-manipulation and tele-manipulation have been implemented. The tele-manipulation may be very useful in a teaching setup where a more experienced surgeon may guide, through a haptic interface, a less experienced surgeon co-manipulating the surgical robot. This new feature has come up from the discussion meetings between the medical doctors and the engineers. A virtual surgical system has been implemented in CHAI3D, and is being used for development.

Ultrasound system:

The ultrasound system using 2D probes has evolved as initially planned and been implemented as last reported. Although the set-up is still relatively well structured, registration of a small US point cloud onto the CT point cloud has been achieved at aproximately 2 seconds. As we release the structure constraints, it is expected the registration times will increase. We are working on finding the optimal set-up which is both functional and real-time compatible for the surgical procedure.