Presentation of the mixt control unit for PARMIS parallel robotic system

Author

Gyurka, B. ; Kovacs, Istvan ; Pisla, D.

Author_Institution

Cluj Subsidiary, IPA R&D Inst. for Autom., Cluj-Napoca, Romania

fYear

2014

fDate

22-24 May 2014

Firstpage

1

Lastpage

6

Abstract

This paper presents different control system for parallel robots. The PARMIS robot is used in minimally invasive surgery. PARMIS robotic system consists of three robotic arms PARAMIS and PARASURG-9M right hand and left hand. PARASURG-9M arm consists of PARASURG 5M and left robotic PARASIM, a dexterous 4-DOFS surgical instrument. The paper presents the kinematic structure of each the control system unit structure, algorithms and software implemented, user interfaces, and conclusion.

Keywords

biomedical equipment; dexterous manipulators; manipulator kinematics; medical robotics; surgery; user interfaces; Mixt control unit; PARAMIS robot arm; PARASURG 5M robot; PARASURG-9M left hand robot; PARASURG-9M right hand robot; PARMIS parallel robotic control system; dexterous 4-DOFS surgical instrument; kinematic structure; minimally invasive surgery; software implementation; unit structure; user interfaces; Control systems; Instruments; Joints; Laparoscopes; Parallel robots; Surgery; Adaptive actuation system; Advanced simulation; Command and Control Unit (CCU); Integrated control systems; Robotic surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation, Quality and Testing, Robotics, 2014 IEEE International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

978-1-4799-3731-8

Type

conf

DOI

10.1109/AQTR.2014.6857871

Filename

6857871