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
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