ASYSTENT - control system assisting surgeon in laparoscopy

• Autorzy: Sauer B. , Kozłowski K. , Waliszewski W. , Michalski M. , Kiełczewski M. , Pazderski D. , Jeziorek P.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a concept of the multi-Ievel control system for the Minimally Invasive Surgery (MIS). The robot assistant has been proposed to help the surgeon in the laparoscopic cholecystectomy. The ASYSTENT system is the result of the cooperation between Chair of ControI and Systems Engineering, Poznań University of Technology, and The Department of General and Laparoscopic Surgery, Hospital J. Strusia in Poznań, Poland. Presented system consists of the following elements: the main unit, the joystick controI unit, the unit of force controI, the speech recognition system and the vision system. In this project the Stäubli robot RX60, equipped with the force and torque sensor JR3, and the laparoscope, has been used. Communication is realized with the help of TCP/IP protocol.

Słowa kluczowe

EN

telerobotic system; control system; surgery; laparoscopic cholecystectomy; manipulator; force and torque sensor; kinematics; speech recognition system; vision system; robot

PL

telerobotyka; system sterowania; chirurgia; laparoskopia; manipulator; kinematyka; robot

• Wydawca: Nałęcz Institute of Biocybernetics and Biomedical Engineering of the Polish Academy of Sciences ; Elsevier
• Czasopismo: Biocybernetics and Biomedical Engineering
• Rocznik: 2006
• Tom: Vol. 26, no. 4
• Strony: 55--70
• Opis fizyczny: Bibliogr. 14 poz., rys., tab., wykr.

Twórcy

autor

Sauer B.

autor

Kozłowski K.

autor

Waliszewski W.

autor

Michalski M.

autor

Kiełczewski M.

autor

Pazderski D.

autor

Jeziorek P.

• Chair of Control and Systems Engineering, Poznań University of Technology, ul. Piotrowo 3a, 60-965 Poznań, Poland,

Bibliografia

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• 3. Dutkiewicz P., Kiełczewski M., Kowalski M.: Visual Tracking of Surgical Tools for Laparoscopic Surgery, Proccedings of the 4th International Workshop on Robot Motion and Control, Puszczykowo 2004, 23-28.
• 4. Dutkiewicz P., Kiełczewski M., Kowalski M., Wróblewski w.: Experimental Verification of Visual Tracking of Surgical Tools, Proccedings of the 5th International Workshop on Robot Motion and Control (RoMoCo'05), Dymaczewo, Poland 2005, 237-242.
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• 7. Marescaux J.: Transatlantic Robot-Assisted Telesurgery, Nature 2001, 413, 379-380.
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• 9. Sauer P., Kozłowski K., Waliszewski W. and Hildebrant T.: Telerobotic Simulator in Minimal Invasive Surgery, Proccedings of the 3rd International Workshop on Robot Motion and Control (RoMoCo'02) 2002, 39-44.
• 10. Sauer P., Kozłowski K., Waliszewski W.: Measurement System of Force Response of Intra-abdominal for Laparoscopy, Proceedings of the 9th IEEE International Conference on Methods and Models in Automation and Robotics (MMAR'03), Międzyzdroje, Poland 2003,1037-1042.
• 11. Sauer P., Kozłowski K., Majchrzak J., Waliszewski W.: Measurement System of Force Response for Minima Invasive Surgery, SURGETICA 2005 Computer-Aided Medical Intervantions: tools and applications, Chambery, France 2005, 139-147.
• 12. Sauer P., Kozłowski K., Pazderski D., Waliszewski W., Jeziorek P.: The Robot Assistant System for Surgeon in Laparoscopic Interventions, Proceedings of 5th International Workshop on Robot Motion and Control (RoMoCo'05), 2005, 55-62.
• 13. Sauer P., Kozłowski K., Waliszewski W., Jeziorek P.: ASYSTENT - Control System of a Manipulator for Keyhole Surgery, Book of Abstracts of 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobilne Machines (CLAWAR'05), London UK, 36.
• 14. Taylor R.H., Funda J., Eldridge B., Gomory S., Gruben K., LaRose D., Talamini M., Kavoussi L., Anderson J.: A Telerobotic Assistant for Laparoscopic Surgery, IEEE Engineering in Medicine and Biology Magazine 1995, 14,3,279-288.