Control software design of a compact laparoscopic surgical robot system

被引：6
|
作者：
Ma, Ji [1 ]
Berkelman, Peter [1 ]
机构：
[1] Univ Hawaii Manoa, Dept Mech Engn, 2540 Dole St Holmes 302, Honolulu, HI 96822 USA
来源：
2006 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-12 | 2006年
关键词：
surgical robotics; software; control;
D O I：
10.1109/IROS.2006.282644
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We have developed a prototype teleoperated robotic surgical system which is modular, compact and easy to use. In this paper, the control software design of the prototype is introduced. The main function of the control software is to realize master-slave control. According to the functions, The control software consists of three layers: hardware drivers, master-slave control and human-machine interface. Each software layer includes several software modules which are easy to maintain and upgrade and are reliable. The preliminary motion control and experimental results are given in the end.
引用
收藏
页码：2345 / +
页数：3
相关论文
共 50 条
  • [31] The control system design of a scara robot
    Wang, Nianfeng
    Liu, Jinghui
    Wei, Shuai
    Xu, Zhijie
    Zhang, Xianmin
    Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 2014, 8918 : 136 - 145
  • [32] Design of Humanoid Robot Control System
    Guo, He
    Cao, Guohua
    ADVANCES IN APPLIED SCIENCES AND MANUFACTURING, PTS 1 AND 2, 2014, 850-851 : 397 - 400
  • [33] Design of control system for an exoskeleton robot
    Chen, Hongwei
    Zhang, Fuhai
    Fu, Yili
    Wang, Xiangyu
    Zhang, F. (zfhhit@hit.edu.cn), 1600, Huazhong University of Science and Technology (41): : 320 - 323
  • [34] Design of NDT Robot Control System
    Zhang, Mingchuan
    Xiao, Dingguo
    Zhang, Hanming
    Peng, Genyue
    Li, Fei
    Liu, Shaochun
    PROCEEDINGS OF 2016 IEEE FAR EAST FORUM ON NONDESTRUCTIVE EVALUATION/TESTING: NEW TECHNOLOGY & APPLICATION (IEEE FENDT 2016), 2016, : 146 - 150
  • [35] The Control System Design of Intelligent Robot
    Gao, Yi
    Pan, Xing
    Pan, Yong
    ADVANCES IN ELECTRICAL ENGINEERING AND AUTOMATION, 2012, 139 : 339 - +
  • [36] Design on Robot Electrometrical Control System
    Liu Xiuyun
    Guo Zhitian
    He Chunhua
    PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON AUTOMATION, MECHANICAL CONTROL AND COMPUTATIONAL ENGINEERING, 2015, 124 : 720 - 725
  • [37] Surgical techniques: Robot-assisted laparoscopic colposacropexy with the da Vinci® surgical system
    Matthews C.A.
    Journal of Robotic Surgery, 2009, 3 (1) : 35 - 39
  • [38] Surgical techniques:: robot-assisted laparoscopic hysterectomy with the da Vinci® surgical system
    Advincula, A. P.
    INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY, 2006, 2 (04): : 305 - 311
  • [39] Surgical techniques: robot-assisted laparoscopic myomectomy with the da Vinci® surgical system
    Sangeeta Senapati
    Arnold P. Advincula
    Journal of Robotic Surgery, 2007, 1 (1)
  • [40] Design of the Model Following Control System for Robot Control System
    Wang, Dazhong
    Wu, Shujing
    Cheng, Wushan
    Zhang, Minliang
    MATERIALS, MECHATRONICS AND AUTOMATION, PTS 1-3, 2011, 467-469 : 1462 - 1466
12345