Title :
The robot assistant system for surgeon in laparoscopic interventions
Author :
Sauer, P. ; Kozlowski, K. ; Pazderski, D. ; Waliszewski, W. ; Jeziorek, P.
Author_Institution :
Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland
Abstract :
This paper presents a concept of multi-level control system for minimal invasive surgery (MIS). The overall system is based on the Staubli robot which plays a 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 or commands from the speech recognition system. In this paper, we present experimental results of control of the Staubli RX60 robot which has been used as the robot assistant. The system is named ASYSTANT.
Keywords :
end effectors; endoscopes; interactive devices; medical robotics; speech-based user interfaces; surgery; ASYSTANT; Stdubli RX60 robot; end effector movement; joystick; laparoscopic cholecystectomy; minimal invasive surgery; multilevel control system; robot assistant system; speech recognition system; surgeon; Communication system control; Control systems; Hospitals; Laparoscopes; Medical robotics; Minimally invasive surgery; Robot kinematics; Speech recognition; Surges; Telerobotics;
Conference_Titel :
Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on
Print_ISBN :
83-7143-266-6
DOI :
10.1109/ROMOCO.2005.201401
