Title :
Control Software Design of A Compact Laparoscopic Surgical Robot System
Author :
Ma, Ji ; Berkelman, Peter
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI
Abstract :
We have developed a prototype teleoperated robotic surgical system which is modular, compact and easy to use. In this paper, the control software design of the prototype is introduced. The main function of the control software is to realize master-slave control. According to the functions, The control software consists of three layers: hardware drivers, master-slave control and human-machine interface. Each software layer includes several software modules which are easy to maintain and upgrade and are reliable. The preliminary motion control and experimental results are given in the end
Keywords :
control engineering computing; medical robotics; software engineering; user interfaces; compact laparoscopic surgical robot system; control software design; human-machine interface; master-slave control; motion control; teleoperated robotic surgical system; Control systems; Hardware; Man machine systems; Master-slave; Minimally invasive surgery; Prototypes; Robots; Software design; Software maintenance; Software prototyping; control; software; surgical robotics;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282644
