DocumentCode :
666300
Title :
Tele-operation control system for non-homothetic master/slave kinematics for minimally-invasive surgery
Author :
Saafi, Houssem ; Laribi, Med Amine ; Zeghloul, Said ; Ibrahim, M.Y.
Author_Institution :
Dept. GMSC, Univ. of Poitiers, Poitiers, France
fYear :
2013
fDate :
10-13 Nov. 2013
Firstpage :
3800
Lastpage :
3805
Abstract :
The current objective of this robotics research study is mainly to develop a cheap and not cumbersome systems for special applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed with this philosophy. The developed system is composed of master, slave and control system for collaborative operation between the surgeon and the robot. A parallel robot haptic device is used as master to teleoperate a serial robot with three degrees of freedom (dof). The advantage of this method is the possibility of coupling master and slave with non-matching kinematics through a kinematic transformation. The developed control system architecture is presented in this paper. The control architecture was designed to control the teleoperation system where the master and slave robots do not have homothetic kinematics. Finally, the viability of the developed control is demonstrated by the experimental results.
Keywords :
haptic interfaces; medical robotics; robot kinematics; surgery; telemedicine; PROMIS system development; Pprime robot for minimally invasive surgery system design; control architecture; control system architecture development; kinematic transformation; master robot homothetic kinematics; master system; minimally-invasive surgery; nonhomothetic master-slave kinematics; nonmatching master-slave kinematics coupling; parallel robot haptic device; robotics research study; serial robot teleoperation; slave robot homothetic kinematics; slave system; surgeon-robot collaborative operation; teleoperation control system; teleoperation system control; Control systems; Haptic interfaces; Joints; Kinematics; Robots; Surgery; Vectors; Motion control; master; minimally invesive surgery (MIS); slave; tele-operation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Industrial Electronics Society, IECON 2013 - 39th Annual Conference of the IEEE
Conference_Location :
Vienna
ISSN :
1553-572X
Type :
conf
DOI :
10.1109/IECON.2013.6699741
Filename :
6699741
Link To Document :
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