The control of the PARAMIS parallel robot using a haptic device

Author

Gyurka, B. ; Pisla, D. ; Stancel, E. ; Vaida, C. ; Gherman, B. ; Lese, D. ; Suciu, M. ; Plitea, N.

Author_Institution

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

Volume

1

fYear

2010

fDate

28-30 May 2010

Firstpage

1

Lastpage

6

Abstract

Robots are useful tools in minimally invasive surgery (MIS), providing benefits such as elimination of hand tremor, better accessibility, possibility of working in awkward positions, workspace scaling and teleoperation. This paper presents the design of a software application and the experimental results regarding the control of PARAMIS surgical parallel robot using the combined resources of personal computers and PLC´s. The general software architecture of the application program (both PC level as well as the PLC level connected into an open architecture information system) is described. The implementation of a 7dof. Haptic equipment as control device is presented. The used control techniques enable the possibility of acquiring the monitored parameters on LAN Ethernet support.

Keywords

medical information systems; medical robotics; open systems; programmable controllers; software architecture; surgery; telerobotics; LAN Ethernet support; PARAMIS surgical parallel robot control; PLC; hand tremor elimination; haptic device; minimally invasive surgery; open architecture information system; personal computers; software application design; software architecture; teleoperation; workspace scaling; Application software; Computer architecture; Haptic interfaces; Information systems; Microcomputers; Minimally invasive surgery; Parallel robots; Programmable control; Software architecture; Software design;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Quality and Testing Robotics (AQTR), 2010 IEEE International Conference on

Conference_Location

Cluj-Napoca

Print_ISBN

978-1-4244-6724-2

Type

conf

DOI

10.1109/AQTR.2010.5520857

Filename

5520857