Modular design of a teleoperated robotic control system for laparoscopic minimally invasive surgery based on ROS and RT-Middleware

被引:16
作者
Bai, Weibang [1 ]
Cao, Qixin [1 ]
Wang, Pengfei [1 ]
Chen, Peng [2 ]
Leng, Chuntao [3 ]
Pan, Tiewen [4 ]
机构
[1] Shanghai Jiao Tong Univ, Res Inst Robot, Res Inst Biomed Mfg & Life Qual Engn, State Key Lab Mech Syst & Vibrat,Sch Mech Engn, Shanghai, Peoples R China
[2] Shanghai Jiao Tong Univ, Res Inst Robot, Sch Mech Engn, Shanghai, Peoples R China
[3] Shanghai Jiao Tong Univ, Engn Training Ctr, Shanghai, Peoples R China
[4] Eastern Hepatobiliary Surg Hosp, Div Thorac Surg, Shanghai, Peoples R China
来源
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION | 2017年 / 44卷 / 05期
基金
美国国家科学基金会;
关键词
Time delay; ROS; Modular design; Laparoscopic minimally invasive surgery; RT-Middleware; Teleoperated robotic control system;
D O I
10.1108/IR-12-2016-0351
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Purpose - Robotic systems for laparoscopic minimally invasive surgery (MIS) always end up with highly sophisticated mechanisms and control schemes - making it a long and hard development process with a steep price. This paper aims to propose and realize a new, efficient and convenient strategy for building effective control systems for surgical and even other complex robotic systems. Design/methodology/approach - A novel method that takes advantage of the modularization concept by integrating two middleware technologies ( robot operating system and robotic technology middleware) into a common architecture based on the strengths of both was designed and developed. Findings - Tests of the developed control system showed very low time-delay between the master and slave sides; good movement representation on the slave manipulator; and high positional and operational accuracy. Moreover, the new development strategy trial came with much higher efficiency and lower costs. Research limitations/implications - This method results in a modularized and distributed control system that is amenable to collaboratively develop; convenient to modify and update; componentized and easy to extend; mutually independent among subsystems; and practicable to be running and communicating across multiple operating systems. However, experiments show that surgical training and updates of the robotic system are still required to achieve better proficiency for completing complex minimally invasive surgical operations with the proposed and developed system. Originality/value - This research proposed and developed a novel modularization design method and a novel architecture for building a distributed teleoperation control system for laparoscopic MIS.
引用
收藏
页码:596 / 608
页数:13
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