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Share control of surgery robot master manipulator guiding tool along the standard path
Author(s) -
Fracczak Lukasz,
Szaniewski Mateusz,
Podsedkowski Leszek
Publication year - 2019
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1984
Subject(s) - control (management) , computer science , moment (physics) , path (computing) , robotics , surgical robot , robotic surgery , robot , manipulator (device) , process (computing) , invasive surgery , position (finance) , simulation , surgery , medicine , artificial intelligence , physics , finance , classical mechanics , economics , programming language , operating system
Recently, minimally invasive surgery (MIS) robotics enters the phase of autonomous operation. However, because of the high variability of the environment, conducting a fully autonomous surgery is still extremely difficult. This paper presents a share control system, the objective of which is to suggest the optimum path of tool guidance through the use of force on the master manipulator (hereinafter as master), meaning the surgeon's hand. Owing to this type of control, the surgeon has full control over the position of the tool the entire time and is supported by the system to better and faster guide the tool during surgery. The force should be felt by the surgeon but, simultaneously, must not hinder or impact the surgical process. Furthermore, the share control system presented in the paper can be turned on or off at any moment during surgery.