Title :
Telerobotic simulator in minimal invasive surgery
Author :
Sauer, P. ; Kozlowski, Krzysztof ; Waliszewski, W. ; Hildebrant, T.
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Tech. Univ., Poland
Abstract :
This paper presents the concept of multi-level control system for minimal invasive surgery. The overall system is based on Staubli robot which plays the role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick. In the paper, we present two simulation programs for the control of the Staubli RX60 robot which has been used as the robot assistant.
Keywords :
medical robotics; surgery; telerobotics; Staubli robot; end effector; laparoscopic cholecystectomy; minimal invasive surgery; multi-level control system; robotic assistant; simulation programs; telerobotic simulator; Control systems; Hospitals; Laparoscopes; Medical robotics; Minimally invasive surgery; Modeling; Robotics and automation; Robots; Systems engineering and theory; Telerobotics;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177081
