The robot assistant system for surgeon in laparoscopic interventions

Author

Sauer, P. ; Kozlowski, K. ; Pazderski, D. ; Waliszewski, W. ; Jeziorek, P.

Author_Institution

Inst. of Control & Syst. Eng., Poznan Univ. of Technol., Poland

fYear

2005

fDate

23-25 June 2005

Firstpage

55

Lastpage

62

Abstract

This paper presents a concept of multi-level control system for minimal invasive surgery (MIS). The overall system is based on the Staubli robot which plays a role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick or commands from the speech recognition system. In this paper, we present experimental results of control of the Staubli RX60 robot which has been used as the robot assistant. The system is named ASYSTANT.

Keywords

end effectors; endoscopes; interactive devices; medical robotics; speech-based user interfaces; surgery; ASYSTANT; Stdubli RX60 robot; end effector movement; joystick; laparoscopic cholecystectomy; minimal invasive surgery; multilevel control system; robot assistant system; speech recognition system; surgeon; Communication system control; Control systems; Hospitals; Laparoscopes; Medical robotics; Minimally invasive surgery; Robot kinematics; Speech recognition; Surges; Telerobotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot Motion and Control, 2005. RoMoCo '05. Proceedings of the Fifth International Workshop on

Print_ISBN

83-7143-266-6

Type

conf

DOI

10.1109/ROMOCO.2005.201401

Filename

1554380