Telerobotic Simulator in Minimal Invasive Surgery

Piotr Sauer; Krzysztof Kozłowski; Wojciech Waliszewski; T. Hildebrant

doi:10.1109/ROMOCO.2002.1177081

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Title

Telerobotic Simulator in Minimal Invasive Surgery

Authors

^{[ 1 ]} Instytut Sterowania i Inżynierii Systemów (ISt), Wydział Informatyki i Zarządzania, Politechnika Poznańska | ^{[ P ]} employee

Year of publication

2002

Chapter type

paper

Publication language

english

Keywords

EN

control system
Minimal Invasive Surgery
laparoscope
telerobotic
forward
inverse kinematic

Abstract

EN This paper presents the concept of multi-level control system for minimal invasive surgery. The overall system is based on Staubli robot which plays the 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. In the paper, we present two simulation programs for the control of the Staubli RX60 robot which has been used as the robot assistant.

Pages (from - to)

39 - 44

DOI

10.1109/ROMOCO.2002.1177081

URL

https://ieeexplore.ieee.org/document/1177081

Book

RoMoCo'2002 : Proceedings of the Third International Workshop on Robot Motion and Control, Bukowy Dworek, Poland, 9-11.11.2002 r

Presented on

3rd International Workshop on Robot Motion and Control, RoMoCo'02, 9-11.11.2002, Bukowy Dworek, Poland

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