A Simulator for Designing Control Schemes for a Teleoperated Flexible Robotic System
No-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery. No-scar surgery can be performed with flexible instruments, carried by a guide under the vision of an endoscopic camera. This technique brings many benefits for the patient, but also introduces several difficulties for the surgeon. We aim at developing a teleoperated robotic system for assisting surgeons in this kind of operations. In this paper we present this novel system, its kinematics and the strategies that we are proposing for its control. Also, we present a virtual simulator that we have specifically developed for our system with the purpose of assessing the control strategies and studying the possible system mechanical issues. Trials with novices show that the best control strategies depend on the kind of task to be performed and on the presence of simulated errors.
KeywordsVirtual simulation surgical robotics No-scar surgery telemanipulation
Unable to display preview. Download preview PDF.
- 8.Hanafusa, H., Yoshikawa, T., Nakamura, Y.: Analysis and control of articulated robot arms with redundancy. Preprints 8th Triennial IFAC World Congress, vol. 14, pp. 78–83 (1981)Google Scholar
- 9.Bardou, B., Nageotte, F., Zanne, P., de Mathelin, M.: Design of a telemanipulated system for transluminal surgery. In: IEEE 31st Int. Conf. on Engineering in Medicine and Biology, Minneapolis, Minnesota, September 2-6, pp. 5577–5582 (2009)Google Scholar
- 10.Bardou, B., Nageotte, F., Zanne, P., de Mathelin, M.: Improvements in the Control of a Flexible Endoscopic System. In: International Conference on Robotics and Automation, Saint Paul (MN) (May 2012)Google Scholar