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

authored by: 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.
External Organisation(s): Technical University of Cluj-Napoca
S.C. IPA S.A. Cluj-Napoca Subsidiary
Technische Universität Braunschweig
Iuliu Hatieganu University of Medicine and Pharmacy
Type: Conference contribution
Pages: 171-176
No. of pages: 6
Publication date: 01.12.2009
Publication status: Published
Peer reviewed: Yes
ASJC Scopus subject areas: Bioengineering, Biomedical Engineering
Electronic version(s): https://doi.org/10.1007/978-3-642-04292-8_38 (Access: Unknown)

BibTeX

@inproceedings{7538bd740e3d44598e1f41b73e704fcf,
title = "Development of a control system for a parallel robot used in minimally invasive surgery",
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.",
keywords = "Control, Minimally invasive surgery, Parallel robot, Simulation",
author = "C. Vaida and D. Pisla and N. Plitea and B. Gherman and B. Gyurka and E. Stancel and J{\"u}rgen Hesselbach and Annika Raatz and L. Vlad and F. Graur",
year = "2009",
month = dec,
day = "1",
doi = "10.1007/978-3-642-04292-8_38",
language = "English",
isbn = "9783642042911",
series = "IFMBE Proceedings",
pages = "171--176",
booktitle = "International Conference on Advancements of Medicine and Health Care through Technology",
note = "International Conference on Advancements of Medicine and Health Care through Technology ; Conference date: 23-09-2009 Through 26-09-2009",
}