Title :
A scalable system for real-time control of dexterous surgical robots
Author :
Thienphrapa, Paul ; Kazanzides, Peter
Author_Institution :
Dept. of Comput. Sci., Johns Hopkins Univ., Baltimore, MD, USA
Abstract :
The requisite cabling and control processing for surgical robots can become unwieldy as dexterity is increased, due to the additional degrees of freedom. Motivated by dexterous snake-like robots for minimally invasive surgery, this paper details the development of a low-level control system that uses IEEE 1394 (FireWire), linking the computer to low-latency field-programmable gate arrays, to distribute I/O while centralizing all control computations. A standard programming interface is defined as part of the control system to enhance its scalability. These features increase the viability of complex surgical robots and ease their development by reducing cables and enabling the processing of many axes of control on a single computer.
Keywords :
IEEE standards; control engineering computing; dexterous manipulators; field programmable gate arrays; medical robotics; peripheral interfaces; surgery; FireWire; IEEE 1394; dexterous surgical robots; low-latency field-programmable gate arrays; minimally invasive surgery; real-time control; scalable system; standard programming interface; Centralized control; Control systems; Distributed computing; Firewire; Joining processes; Medical robotics; Minimally invasive surgery; Process control; Real time systems; Robots;
Conference_Titel :
Technologies for Practical Robot Applications, 2009. TePRA 2009. IEEE International Conference on
Conference_Location :
Woburn, MA
Print_ISBN :
978-1-4244-4991-0
Electronic_ISBN :
978-1-4244-4992-7
DOI :
10.1109/TEPRA.2009.5339651
