NDLI: Three-layer control for active wrists in robotized laparoscopic surgery

Content Provider	IEEE Xplore Digital Library
Author	Bauzano, E. Muoz, V.F. Garcia-Morales, I. Estebanez, B.
Copyright Year	2009
Description	Author affiliation: Univ. de Málaga, Spain (Estebanez, B.) \|\| System Engineering and Automation Department, University of Malaga, Spain (Muoz, V.F.) \|\| Univ. of Malaga, Spain (Bauzano, E.; Garcia-Morales, I.)
Abstract	This paper is focused on the motion control problem for a laparoscopic surgery robot assistant with an actuated wrist. These assistants may apply non-desired efforts to the patient abdomen. Therefore, this article proposes a control methodology based on three feedback levels, which have been defined as layers. These layers control different aspects of the endoscope movement. A low level assures the dynamic of the robot assistant is performed accordingly. The mid level emulates a passive wrist behavior to avoid any efforts over the abdomen. An external high level deals with the global movement planning. This architecture also makes easier to analyze the stability of the whole system. Finally, a real in-vitro experiment has been implemented with an industrial robot in order to contrast the validity of this article procedure.
Starting Page	2653
Ending Page	2658
File Size	406597
Page Count	6
File Format	PDF
ISBN	9781424438037
DOI	10.1109/IROS.2009.5354614
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2009-10-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wrist Minimally invasive surgery Robot kinematics Endoscopes Abdomen Surges Robot vision systems Cameras Laparoscopes Intelligent robots
Content Type	Text
Resource Type	Article

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