Title :
A PC-based workstation for robotic discectomy
Author :
Casadei, Claudio ; Fiorini, Paolo ; Martelli, Sandra ; Montanari, Marco ; Morri, Alberto
Author_Institution :
Lab. di Biomeccanica, Ist. Ortopedici Rizzoli, Bologna, Italy
Abstract :
This paper describes a PC-based controller for robot-assisted minimally invasive surgery. The development is motivated by the need of reducing the exposure of operating room personnel to X-rays during surgical procedures such as percutaneous discectomy. The approach taken consists of upgrading the hardware architecture and the control software of a clean-room PUMA 260 manipulator, and by developing a new vision-based operator interface. The original PUMA controller is interfaced to a PC for trajectory generation and force/torque data acquisition. Kinematic and communication functions are ported to the PC from the RCCL package. The operator interface is used for robot calibration and motion commands. In this implementation, the position control and force/torque data acquisition are executed every 28 ms, thus preserving the original robot performance. Preliminary tests have shown the validity of this approach and readiness of the system for more realistic experiments in the operating room
Keywords :
computer vision; computerised control; data acquisition; force control; graphical user interfaces; manipulator kinematics; medical computing; position control; surgery; PUMA 260 manipulator; computer vision; data acquisition; force control; kinematics; minimally invasive surgery; position control; robotic discectomy; surgical robot; user interface; Communication system control; Computer architecture; Data acquisition; Force control; Hardware; Minimally invasive surgery; Personnel; Robot control; Workstations; X-rays;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.677218