Telerobotic Simulator in Minimal Invasive Surgery
[ 1 ] Instytut Sterowania i Inżynierii Systemów (ISt), Wydział Informatyki i Zarządzania, Politechnika Poznańska | [ P ] pracownik
2002
referat
angielski
- control system
- Minimal Invasive Surgery
- laparoscope
- telerobotic
- forward
- inverse kinematic
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.
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