外科医生腹腔镜手术的机器人辅助系统

Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05. Pub Date : 2005-06-23 DOI:10.1109/ROMOCO.2005.201401

P. Sauer, K. Kozlowski, D. Pazderski, W. Waliszewski, Przemyslaw Jeziorek

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引用次数: 2

摘要

本文提出了一种微创手术多级控制系统的概念。整个系统是基于Staubli机器人，它在腹腔镜胆囊切除术中扮演着外科医生的机器人助手的角色。末端执行器的期望运动通过操纵杆的运动或来自语音识别系统的命令获得。本文给出了作为机器人助手的Staubli RX60机器人的控制实验结果。系统命名为ASYSTANT。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The robot assistant system for surgeon in laparoscopic interventions

This paper presents a concept of multi-level control system for minimal invasive surgery (MIS). The overall system is based on the Staubli robot which plays a role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick or commands from the speech recognition system. In this paper, we present experimental results of control of the Staubli RX60 robot which has been used as the robot assistant. The system is named ASYSTANT.

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Proceedings of the Fifth International Workshop on Robot Motion and Control, 2005. RoMoCo '05.

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