Development of a Control System for a Parallel Robot Used in Minimally Invasive Surgery

被引：26

作者：

Vaida, C. ^{[1
]}

Pisla, D. ^{[1
]}

Plitea, N. ^{[1
]}

Gherman, B. ^{[1
,2
]}

Gyurka, B. ^{[2
]}

Stancel, E.

Hesselbach, J. ^{[3
]}

Raatz, A. ^{[3
]}

Vlad, L. ^{[4
]}

Graur, F. ^{[4
]}

机构：

[1] Tech Univ Cluj Napoca, 15 C Daicoviciu, Cluj Napoca, Romania

[2] SC IPA SA Cluj Napoca Subsidiary, Cluj Napoca, Romania

[3] Tech Univ Carolo Wilhelmina Braunschweig, Braunschweig, Germany

[4] Univ Med & Pharm, Cluj Napoca, Romania

来源：

INTERNATIONAL CONFERENCE ON ADVANCEMENTS OF MEDICINE AND HEALTH CARE THROUGH TECHNOLOGY | 2009年 / 26卷

关键词：

parallel robot; control; minimally invasive surgery; simulation; LAPAROSCOPIC SURGERY;

D O I：

10.1007/978-3-642-04292-8_38

中图分类号：

R318 [生物医学工程];

学科分类号：

0831 ;

摘要：

For the use of robotic systems in applications like minimally invasive surgical procedures, adequate control is necessary. Because of the direct interaction with the patient, safety is a critical aspect in robot control. This paper presents a simple and robust, open-architecture control system for an innovative parallel robot designed for the positioning of the laparoscopic instrument in minimally invasive surgery. The use of intelligent actuators, modular programming and CANOpen data transmission protocol, enabled the development of a simple, compact and fast control system that can be extended for the command of multiple robotic arms. The developed user interface with the specific commands used during the surgical procedures and the experimental model of the parallel robot are presented.

引用

页码：171 / +

页数：2

共 22 条

[1]

*BORL, BOR DELPH PROGR LANG

[2]

BRUZZONE EL, 2006, 14 MED C AUT CONTR A

[3] CONTROLLING THE MOVEMENT OF A SURGICAL LAPAROSCOPE - ENDOSISTA(TM) WITH 4 DEGREES OF FREEDOM, OPERATES IN CONCERT WITH SURGEONS INTUITIVE HEAD MOTIONS [J].

FINLAY, PA ;

ORNSTEIN, MH .

IEEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE, 1995, 14 (03) :289-291

[4]

Khalil W., 2004, Modeling, Identification and Control of Robots, Kogan Page Science paper edition Modeling, identification & control of robots

[5]

KURFESS T, 2005, AUTOMATION CONTROL H

[6] Transatlantic robot-assisted telesurgery [J].

Marescaux, J ;

Leroy, J ;

Gagner, M ;

Rubino, F ;

Mutter, D ;

Vix, M ;

Butner, SE ;

Smith, MK .

NATURE, 2001, 413 (6854) :379-380

[7]

*MATLAB, 2008, MATLABEDUCATIONAL LI

[8] Development of a functional model for a master-slave combined manipulator for laparoscopic surgery [J].

Matsuhira, N ;

Jinno, M ;

Miyagawa, T ;

Sunaoshi, T ;

Hato, T ;

Morikawa, Y ;

Furukawa, T ;

Ozawa, S ;

Kitajima, M ;

Nakazawa, K .

ADVANCED ROBOTICS, 2003, 17 (06) :523-539

[9]

*MAX MOT AG, 2007, CAT MOT GEARB ENC PO

[10]

NAKAO M, 2003, ICAT 2003 TOK JAP

← 1 2 3 →