Positioning the laparoscopic camera with industrial robot arm

Research output: Chapter in Book/Report/Conference proceedingArticle in proceedings – Annual report year: 2017Researchpeer-review

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This paper introduces a solution for the movement control of the laparoscopic camera employing a teleoperated robotic assistant. The project propose an autonomous robotic solution based on an industrial manipulator, provided with a modular software which is applicable to large scale. The robot arm is envisioned to orient and move the optic device in direction of a fixed point, the incision on the wall of the abdominal cavity, accordingly to the surgeon's request. To manage the movements of the laparoscope around the fulcrum point a Cartesian control strategy is exploited. A six degrees of freedom industrial robot arm is designated to accomplish this manipulation task. The software is implemented in ROS in order to facilitate future extensions. The experimental results shows a manipulator capable of moving fast and smoothly the surgical tool around a remote center of motion.

Original languageEnglish
Title of host publication2017 3rd International Conference on Control, Automation and Robotics, ICCAR 2017
PublisherIEEE
Publication date2017
Pages138-143
Article number7942675
ISBN (Electronic)9781509060870
DOIs
Publication statusPublished - 2017
Event2017 3rd International Conference on Control, Automation and Robotics - SunPlaza Seasons Hotel, Nagoya, Japan
Duration: 24 Apr 201726 Apr 2017
Conference number: 3

Conference

Conference2017 3rd International Conference on Control, Automation and Robotics
Number3
LocationSunPlaza Seasons Hotel
CountryJapan
CityNagoya
Period24/04/201726/04/2017
CitationsWeb of Science® Times Cited: No match on DOI

    Research areas

  • Cartesian robot control, Laparoscopy, Medical robotics, Robot arm, ROS, Telerobotics

ID: 139688638