The control of the PARAMIS parallel robot using a haptic device

Robots are useful tools in minimally invasive surgery (MIS), providing benefits such as elimination of hand tremor, better accessibility, possibility of working in awkward positions, workspace scaling and teleoperation. This paper presents the design of a software application and the experimental results regarding the control of PARAMIS surgical parallel robot using the combined resources of personal computers and PLC's. The general software architecture of the application program (both PC level as well as the PLC level connected into an open architecture information system) is described. The implementation of a 7dof. Haptic equipment as control device is presented. The used control techniques enable the possibility of acquiring the monitored parameters on LAN Ethernet support.