Paper Info
Title
Real-Time Control And Evaluation Of A Teleoperated Miniature Arm For Single Port Laparoscopy
Abstract
This paper presents the control architecture and the first performance evaluation results of a novel and highly-dexterous 18 degrees of freedom (DOF) miniature master/slave teleoperated robotic system called SPRINT (Single-Port lapaRoscopy bimaNual roboT). The system was evaluated in terms of positioning accuracy, repeatability, tracking error during local teleoperation and end-effector payload. Moreover, it was experimentally verified that the control architecture is real-time compliant at an operating frequency of 1 kHz and it is also reliable in terms of safety. The architecture accounts for cases when the robot is lead through singularities, and includes other safety mechanisms, such as supervision tasks and watchdog timers. Peliminary tests that were performed by surgeons in-vitro suggest that the SPRINT robot, along with its real-time control architecture, could become in the near future a reliable system in the field of Single Port Laparoscopy.
Year
DOI
Venue
2011
10.1109/IEMBS.2011.6091782
2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)
Keywords
Field
DocType
robotic surgery,kinematics,real time,surgery,degree of freedom,robots,real time control,real time systems
Teleoperation,Architecture,Kinematics,Simulation,Computer science,Real-time Control System,Robot,Sprint,Payload,Tracking error
Conference
Volume
ISSN
Citations 
2011
1557-170X
2
PageRank 
References 
Authors
0.43
4
11
Name
Order
Citations
PageRank
Sánchez Luis Alonso120.43
Petroni Gianluigi220.43
Piccigallo Marco320.43
Scarfogliero Umberto420.43
Niccolini Marta520.43
Liu Chao620.43
Cesare Stefanini718845.66
Zemiti Nabil850.83
Arianna Menciassi9768138.57
Poignet Philippe1050.83
Dario Paolo1120.43