Journal of Biomedical Engineering Research (대한의용생체공학회:의공학회지)

The Korean Society of Medical and Biological Engineering (대한의용생체공학회)
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Development of a Real-time OS Based Control System for Laparoscopic Surgery Robot

복강경 수술로봇을 위한 실시간 운영체제 기반 제어 시스템의 개발

  • Song, Seung-Joon (Department of Biomedical Engineering, Brain Korea 21 Project for Biomedical Science, College of Medicine, Korea University) ;
  • Park, Jun-Woo (Biomedical Engineering Branch, Research Institute, National Cancer Center) ;
  • Shin, Jung-Wook (Biomedical Engineering Branch, Research Institute, National Cancer Center) ;
  • Kim, Yun-Ho (Korea Artificial Organ Center, Korea University) ;
  • Lee, Duk-Hee (Biomedical Engineering Branch, Research Institute, National Cancer Center) ;
  • Jo, Yung-Ho (Biomedical Engineering Branch, Research Institute, National Cancer Center) ;
  • Choi, Jae-Seoon (Korea Artificial Organ Center, Korea University) ;
  • Sun, Kyung (Department of Biomedical Engineering, Brain Korea 21 Project for Biomedical Science, College of Medicine, Korea University)
  • 송승준 (고려대학교 BK21 의용생체공학) ;
  • 박준우 (국립암센터 연구소 의공학연구과) ;
  • 신정욱 (국립암센터 연구소 의공학연구과) ;
  • 김윤호 (고려대학교 한국인공장기센터) ;
  • 이덕희 (국립암센터 연구소 의공학연구과) ;
  • 조영호 (국립암센터 연구소 의공학연구과) ;
  • 최재순 (고려대학교 한국인공장기센터) ;
  • 선경 (고려대학교 BK21 의용생체공학)
  • Published : 2008.02.29
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Abstract

This paper reports on a realtime OS based master-slave configuration robot control system for laparoscopic surgery robot which enables telesurgery and overcomes shortcomings with conventional laparoscopic surgery. Surgery robot system requires control system that can process large volume information such as medical image data and video signal from endoscope in real-time manner, as well as precisely control the robot with high reliability. To meet the complex requirements, the use of high-level real-time OS (Operating System) in surgery robot controller is a must, which is as common as in many of modem robot controllers that adopt real-time OS as a base system software on which specific functional modules are implemened for more reliable and stable system. The control system consists of joint controllers, host controllers, and user interface units. The robot features a compact slave robot with 5 DOF (Degree-Of-Freedom) expanding the workspace of each tool and increasing the number of tools operating simultaneously. Each master, slave and Gill (Graphical User Interface) host runs a dedicated RTOS (Real-time OS), RTLinux-Pro (FSMLabs Inc., U.S.A.) on which functional modules such as motion control, communication, video signal integration and etc, are implemented, and all the hosts are in a gigabit Ethernet network for inter-host communication. Each master and slave controller set has a dedicated CAN (Controller Area Network) channel for control and monitoring signal communication with the joint controllers. Total 4 pairs of the master/slave manipulators as current are controlled by one host controller. The system showed satisfactory performance in both position control precision and master-slave motion synchronization in both bench test and animal experiment, and is now under further development for better safety and control fidelity for clinically applicable prototype.

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References

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