A 5-DOF table-mounted surgical robot

Author

Li, Feng ; Hu, Lei ; Kuang, Shaolong ; Yang, Chuang ; Wang, Tianmiao

Author_Institution

Robot. Inst., Beihang Univ., Beijing

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

355

Lastpage

359

Abstract

Combined with the circumstances of the surgical robot and ideas of the modularized design and the plug-and-play, a 5-DOF table-mounted robot system based on the distributed strategy is proposed. According to its functions and the task characteristics, the hardware and software of this system have been designed. Aiming at some key problems of this system and requirements for the safety and the human machine interface (HMI), the structure of PRPRR to form the robot body has been used, and the control system based on the distributed method, accompanied with a 3D mouse for the convenience of HMI, has been adopted. In this way, the accuracy, the safety and the convenience can be ensured. Results from two experiments have confirmed the above requirements.

Keywords

control engineering computing; distributed processing; human computer interaction; medical robotics; 5-DOF table-mounted surgical robot; control system; distributed method; distributed strategy; human machine interface; plug-and-play; Biomimetics; Control systems; Hardware; Humans; Medical robotics; Mice; Minimally invasive surgery; Orbital robotics; Safety; Service robots; distributed control strategy; human machine interface; modularization; plug-and-play;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522187

Filename

4522187