Control and evaluation of a 7-axis surgical robot for laparoscopy

J. Funda, K. Gruben, B. Eldridge, S. Gomory, R. Taylor

Research output: Contribution to journalConference articlepeer-review

Abstract

This paper describes the control and ergonomic evaluation of a ceiling mounted (or support frame suspended) 7-axis surgical robot (HISAR) for laparoscopic camera navigation. A key feature of the robot is that it incorporates a passive wrist for natural compliance with the port of entry into the patient. The use of a previously reported constrained Cartesian controller is motivated and demonstrated, and the results of successfully applying this control methodology to the manipulator are presented. The significance of the control strategy is the ease with which control of passive axes, the fulcrum constraint, and the motion inversion effect created by the fulcrum are accommodated. We also report on the results of laboratory evaluations of the arm in terms of its work volume, ergonomic factors, ease of control, and overall design within the context of laparoscopic camera control.

Original languageEnglish (US)
Pages (from-to)1477-1484
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume2
StatePublished - Jan 1 1995
Externally publishedYes
EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
Duration: May 21 1995May 27 1995

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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