低侵襲手術用球状ロボットの制御アーキテクチャ
The control architecture of a spherical robot for Minimally Invasive Surgery
腹部・胸部手術に対応する低侵襲手術用球状ロボットのマスタ・スレーブ制御系を開発し、シミュレーションと実験で検証した。
著者: Gabriela Rus, Nadim Al Hajjar, Paul Tucan, Ionut Zima, Calin Vaida, Corina Radu, Daniel Jucan, Damien Chablat, Doina Pisla
分類: cs.RO
原文アブストラクト
Control systems used in Minimally Invasive Surgery (MIS) play a crucial role in ensuring preci-sion and safety throughout procedures. This paper presents a control architecture developed for a robotic system designed for MIS operations. The modular structure of the control system allows for compatibility with a range of procedures in abdominal and thoracic regions. The proposed control system, employing the master-slave concept, is presented alongside the experimental model. Functional validation is obtained by performing a Siemens NX simulation and comparing the results with several experimental runs using the experimental model of the robot. With its compact size and stiffness, the system holds promise for integration with other robotic systems. Future efforts will be dedicated to exploring and optimizing this potential collaboration to enhance the overall capabilities of robotic-assisted surgery.
