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Development of Control and HMI for Safe Robot Assisted Minimally Invasive Surgery  

Jung, Hoi-Ju (Department of Mechanical Engineering, Korea Univ.)
Song, Hyun-Jong (Department of Mechanical Engineering, Korea Univ.)
Park, Jang-Woo (Department of Mechanical Engineering, Korea Univ.)
Park, Shin-Suk (Department of Mechanical Engineering, Korea Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.28, no.9, 2011 , pp. 1048-1053 More about this Journal
Abstract
Recently, robots have been used in surgical area. Robotic surgery in Minimally Invasive Surgery gives many advantages to surgeons and patients both. This study introduce a robotic assistant to improve the safety of telerobotic Minimally Invasive Surgical procedures. The master-slave system is applied to the telerobotic surgical system with the master arm, which control the system, and slave robot which operates the surgery on the patient body. By using a 3-DOF master arm, the surgeon can control the 6-DOF surgical robot under the constraint of fulcrum point. This paper explains the telerobotic surgical system and confirms the system with the precision of the robot control related to the fulcrum point to enhance the safety.
Keywords
Minimally Invasive Surgery; Teleoperation; Robotic Surgery; Master-Slave System;
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