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Control and user interface design for compact manipulators in minimally-invasive surgery

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4 Author(s)
Berkelman, Peter ; Dept. of Mech. Eng., Hawaii Univ. at Manoa, Honolulu, HI ; Boidard, E. ; Cinquin, P. ; Troccaz, J.

This paper describes the control system and user command interfaces developed for a lightweight, compact, endoscope camera manipulator prototype for robot-assisted minimally invasive surgery. A complete teleoperated minimally invasive surgical system in development is also based on using lightweight, compact manipulators with simple, reliable, and robust controllers. The endoscope manipulator is controlled by a single-board computer and individual motor controllers. The single-board computer processes user commands and generates control mode and analog velocity commands for the motor controllers. A miniature keypad attached to one of the surgical instruments and a voice recognition system with a foot pedal are used as user command interfaces

Published in:

Control Applications, 2005. CCA 2005. Proceedings of 2005 IEEE Conference on

Date of Conference:

28-31 Aug. 2005