Risk analysis for fail-safe motion control implementation in surgical robotics

This paper describes the design and implementation of a motion control architccturc for thc robotic assistant ERM (Endoscopic Robotic Manipulator), devcloped by thc authors for handling thecamcra in laparoscopic surgery. Thc system provides thc direct control of the camera positioning inside the abdominal cavity, by means of surgeon voicc commands.This motion controller is. implemented on a fail-safe architecture, designed from a Failure Mode Effect Analysis (FMEA). Thc system has been tested by means of experimentation with live animals.