Development of a control system for a parallel robot used in minimally invasive surgery

C. Vaida; D. Pisla; N. Plitea; B. Gherman; B. Gyurka; E. Stancel; Jürgen Hesselbach; Annika Raatz; L. Vlad; F. Graur

doi:10.1007/978-3-642-04292-8_38

Development of a control system for a parallel robot used in minimally invasive surgery

C. Vaida^*
, D. Pisla
, N. Plitea
, B. Gherman
, B. Gyurka
, E. Stancel
, Jürgen Hesselbach
, Annika Raatz
, L. Vlad
, F. Graur

^*Korrespondierende*r Autor*in für diese Arbeit

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

Abstract

For the use of robotic systems in applications like minimally invasive surgical procedures, adequate control is necessary. Because of the direct interaction with the patient, safety is a critical aspect in robot control. This paper presents a simple and robust, open-architecture control system for an innovative parallel robot designed for the positioning of the laparoscopic instrument in minimally invasive surgery. The use of intelligent actuators, modular programming and CANOpen data transmission protocol, enabled the development of a simple, compact and fast control system that can be extended for the command of multiple robotic arms. The developed user interface with the specific commands used during the surgical procedures and the experimental model of the parallel robot are presented.

Originalsprache	Englisch
Titel des Sammelwerks	International Conference on Advancements of Medicine and Health Care through Technology
Seiten	171-176
Seitenumfang	6
DOIs	https://doi.org/10.1007/978-3-642-04292-8_38
Publikationsstatus	Veröffentlicht - 1 Dez. 2009
Extern publiziert	Ja
Veranstaltung	International Conference on Advancements of Medicine and Health Care through Technology - Cluj-Napoca, Rumänien Dauer: 23 Sept. 2009 → 26 Sept. 2009

Publikationsreihe

Name	IFMBE Proceedings
Band	26
ISSN (Print)	1680-0737

Konferenz

Konferenz	International Conference on Advancements of Medicine and Health Care through Technology
Land/Gebiet	Rumänien
Ort	Cluj-Napoca
Zeitraum	23 Sept. 2009 → 26 Sept. 2009

ASJC Scopus Sachgebiete

Bioengineering
Biomedizintechnik

Zugriff auf Dokument

10.1007/978-3-642-04292-8_38

Andere Dateien und Links

Link zur Publikation in Scopus

Dieses zitieren

Vaida, C., Pisla, D., Plitea, N., Gherman, B., Gyurka, B., Stancel, E., Hesselbach, J., Raatz, A., Vlad, L., & Graur, F. (2009). Development of a control system for a parallel robot used in minimally invasive surgery. in International Conference on Advancements of Medicine and Health Care through Technology (S. 171-176). (IFMBE Proceedings; Band 26). https://doi.org/10.1007/978-3-642-04292-8_38

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title = "Development of a control system for a parallel robot used in minimally invasive surgery",

abstract = "For the use of robotic systems in applications like minimally invasive surgical procedures, adequate control is necessary. Because of the direct interaction with the patient, safety is a critical aspect in robot control. This paper presents a simple and robust, open-architecture control system for an innovative parallel robot designed for the positioning of the laparoscopic instrument in minimally invasive surgery. The use of intelligent actuators, modular programming and CANOpen data transmission protocol, enabled the development of a simple, compact and fast control system that can be extended for the command of multiple robotic arms. The developed user interface with the specific commands used during the surgical procedures and the experimental model of the parallel robot are presented.",

keywords = "Control, Minimally invasive surgery, Parallel robot, Simulation",

author = "C. Vaida and D. Pisla and N. Plitea and B. Gherman and B. Gyurka and E. Stancel and J{\"u}rgen Hesselbach and Annika Raatz and L. Vlad and F. Graur",

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Vaida, C, Pisla, D, Plitea, N, Gherman, B, Gyurka, B, Stancel, E, Hesselbach, J, Raatz, A, Vlad, L & Graur, F 2009, Development of a control system for a parallel robot used in minimally invasive surgery. in International Conference on Advancements of Medicine and Health Care through Technology. IFMBE Proceedings, Bd. 26, S. 171-176, International Conference on Advancements of Medicine and Health Care through Technology, Cluj-Napoca, Rumänien, 23 Sept. 2009. https://doi.org/10.1007/978-3-642-04292-8_38

Development of a control system for a parallel robot used in minimally invasive surgery. / Vaida, C.; Pisla, D.; Plitea, N. et al.
International Conference on Advancements of Medicine and Health Care through Technology. 2009. S. 171-176 (IFMBE Proceedings; Band 26).

Publikation: Beitrag in Buch/Bericht/Sammelwerk/Konferenzband › Aufsatz in Konferenzband › Forschung › Peer-Review

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AU - Vaida, C.

AU - Pisla, D.

AU - Plitea, N.

AU - Gherman, B.

AU - Gyurka, B.

AU - Stancel, E.

AU - Hesselbach, Jürgen

AU - Raatz, Annika

AU - Vlad, L.

AU - Graur, F.

PY - 2009/12/1

Y1 - 2009/12/1

N2 - For the use of robotic systems in applications like minimally invasive surgical procedures, adequate control is necessary. Because of the direct interaction with the patient, safety is a critical aspect in robot control. This paper presents a simple and robust, open-architecture control system for an innovative parallel robot designed for the positioning of the laparoscopic instrument in minimally invasive surgery. The use of intelligent actuators, modular programming and CANOpen data transmission protocol, enabled the development of a simple, compact and fast control system that can be extended for the command of multiple robotic arms. The developed user interface with the specific commands used during the surgical procedures and the experimental model of the parallel robot are presented.

AB - For the use of robotic systems in applications like minimally invasive surgical procedures, adequate control is necessary. Because of the direct interaction with the patient, safety is a critical aspect in robot control. This paper presents a simple and robust, open-architecture control system for an innovative parallel robot designed for the positioning of the laparoscopic instrument in minimally invasive surgery. The use of intelligent actuators, modular programming and CANOpen data transmission protocol, enabled the development of a simple, compact and fast control system that can be extended for the command of multiple robotic arms. The developed user interface with the specific commands used during the surgical procedures and the experimental model of the parallel robot are presented.

KW - Control

KW - Minimally invasive surgery

KW - Parallel robot

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