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Chapter

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Title

The robot assistant system for surgeon in laparoscopic interventions

Authors

[ 1 ] Katedra Sterowania i Inżynierii Systemów (KI), Wydział Informatyki i Zarządzania, Politechnika Poznańska | [ P ] employee

Year of publication

2005

Chapter type

paper

Publication language

english

Abstract

EN 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.

Pages (from - to)

55 - 62

DOI

10.1109/ROMOCO.2005.201401

URL

https://ieeexplore.ieee.org/document/1554380

Book

Proceedings of the Fifth International Workshop on Robot Motion and Control RoMoCo'05, Dymaczewo, Poland, 23-25 June

Presented on

5th International Workshop on Robot Motion and Control RoMoCo'05, 23-25.06.2005, Dymaczewo, Polska

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