Title :
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
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;
Conference_Titel :
Automation, Quality and Testing, Robotics, 2014 IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
978-1-4799-3731-8
DOI :
10.1109/AQTR.2014.6857871
