Title :
Control movement scheme based on manipulability concept for a surgical robotic assistant
Author :
Muñoz, V.F. ; García-Morales, I. ; Del Pulgar, C. Perez ; Gomez-DeGabriel, J.M. ; Fernández-Lozano, J. ; Garcia-Cerezo, A. ; Vara-Thorbeck, C. ; Toscano, R.
Author_Institution :
Dpto. de Ingenieria de Sistemas y Autom., Malaga Univ.
Abstract :
This paper proposes a Cartesian control scheme applied to a robotic assistant for laparoscopic surgery. This system´s main characteristic is that it emulates the movements of a human assistant, guiding the laparoscopic camera with precision to focus on the area in question inside the patient. Furthermore this control scheme requires adjustment of certain parameters in order to prevent saturation of the manipulator´s actuators, and therefore the robot has been studied in terms of manipulability. The proposed movement control scheme has been implanted in the ERM robot used to carry out trials on thirty two patients
Keywords :
control nonlinearities; manipulators; medical robotics; motion control; surgery; Cartesian control scheme; actuator saturation; laparoscopic surgery; manipulator; movement control scheme; surgical robotic assistant; Actuators; Cameras; Instruments; Laparoscopes; Medical robotics; Minimally invasive surgery; Robot kinematics; Robot vision systems; Surges; Wrist;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1641191