Development of a control system for a parallel robot used in minimally invasive surgery

verfasst von

C. Vaida, D. Pisla, N. Plitea, B. Gherman, B. Gyurka, E. Stancel, Jürgen Hesselbach, Annika Raatz, L. Vlad, F. Graur

Abstract

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.

Externe Organisation(en)

Technical University of Cluj-Napoca
S.C. IPA S.A. Cluj-Napoca Subsidiary
Technische Universität Braunschweig
Iuliu Hatieganu University of Medicine and Pharmacy

Typ

Aufsatz in Konferenzband

Seiten

171-176

Anzahl der Seiten

6

Publikationsdatum

01.12.2009

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Bioengineering, Biomedizintechnik

Elektronische Version(en)

https://doi.org/10.1007/978-3-642-04292-8_38 (Zugang: Unbekannt)