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
Related Articles
- EP ID EP286948
- DOI -
- Views 110
- Downloads 0
Review of the present technological advance in the field of water jet cutting
Water jet cutting (WJC) is a relative recent technology that has a high interest due to its results. The main advantage in using this flexible non-conventional technology is that there is no heat-affected zone (HAZ). Ano...
Comparative study of the ball nose end mill machined surface quality
Ball nose end mills are highly used for 3-5 axes milling operations. The current paper presents a package of experiments for ball nose end milling, considering two cases: machining with the tool in a vertical position an...
FILLING PRESENT VACANCIES BY MEANS OF FUTURE ORIENTED RECRUITMENT PROCESSES
Related to the organizational culture, we presently witness a change of paradigm: if formerly considered not more than a tool for internal integration and coordination, nowadays, it is recognized as being a vital ingredi...
Considerations regarding the incremental forming process in manufacturig
The incremental deformation process of the sheet metal blanks allows the realization, without the use of dies with a high degree of complexity, of a wide variety of parts, mostly for automotive (car body parts) and bio-m...
Validation of forward geometric models for ABB robots using virtual models and the software applications CATIA and ABB Robot Studio
This paper presents the working steps for the validation of the forward geometric models of ABB industrial robots (IR) using their virtual models (CAD models) along with CATIA and ABB RobotStudio software applications. A...