Name
Abstract | ||
|---|---|---|
Robot-assisted minimally invasive surgery is new and promising applications of robotics, which can enhance the dexterity, provide high accuracy and can't be affected by the fatigue, tremor and so on. In this paper, a novel master-slave robot-assisted minimally invasive surgery system MicroHand A is introduced. The master-slave control system for MicroHand has been designed, which is modular and consists of three sets of single-board named programmable multi-axis controller (PMAC) and motor controllers. Each set includes a single-board PMAC and ten or seven motor controllers. MicroHand A system has been successfully carried out ring and bar experiment, suturing and knot tying experiment and gall bladder removal of the pigs under master-slave mode and endoscopic image. The experiment results show that the performance of MicroHand A system is ease of use, decreased operation time, less tremor and can provide adequate dexterity, smoother motion and better accuracy to implement difficult surgical procedures. However, there exists a small delay during slave tracking master trajectory. In the future, the controller will be optimized to improve control accuracy, response time and other control performance, etc. © 2010 IEEE. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/ROBIO.2010.5723532 | ROBIO |
Keywords | Field | DocType |
ease of use,master slave,control system,programmable controllers,surgery,mobile robots | Control theory,Control engineering,Artificial intelligence,Control system,Surgery,Master/slave,Robotics,Control theory,PMAC,Motor controller,Programmable logic controller,Engineering,Mobile robot | Conference |
Volume | Issue | Citations |
null | null | 1 |
PageRank | References | Authors |
0.42 | 4 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Hongqiang Sang | 1 | 1 | 1.09 |
| Jianmin Li | 2 | 13 | 3.17 |
| Chao He | 3 | 1 | 1.43 |
| Lin'an Zhang | 4 | 2 | 1.53 |
| Shuxin Wang | 5 | 44 | 11.24 |