Control system and software package for an experimental module for robots applied in laparoscopyc surgery
Journal Title: Proceedings in Manufacturing Systems - Year 2018, Vol 13, Issue 1
Abstract
The main target of everyone engineering work associated with minimally-invasive surgery is to provide adequate tool-tissue force information to the surgeons so that they can regain the "sense of touch" that has been lost through laparoscopic surgery. In contrast to daVinchi robots by Intuitive Surgical Incorporation which instruments are designed for manipulation and video observation our institute developed family tools with additional functions. Therefore, two main problems were solved: i) an original construction of an adequate experimental module for robots was designed and produced, in which two force sensors was incorporated to provide tool-tissue information (some of which were described and discussed in a previous work), and ii) hardware and program resources for control and monitoring of this module were achieved, this being the object of this work. The computer program includes information about various measurements of the tip tool-contact surface interactions and data obtained from the experimental module that is used to find the difference between data from previous measurement and information received in real time. Another signification advantage of the proposed program solution is the graphical visualization of the measurements and comparison of the results. Therefore, the surgeon can give the adequate command to force interaction between the instrument and tissue. For verification of the functionality and working capacity of the experimental module with force feedback capabilities of robots, different experiments with the designed control system were conducted.
Authors and Affiliations
Veronika IVANOVA, Zlatoliliya ILCHEVA, Dichko BACHVAROV, Ani BONEVA, Nesim BARUH
Keywords
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