Abstract
In this paper, we present control system which is named “Multi-level Control System of a Manipulator for Minimally Invasive Surgery (MIS)”. The overall system is based on the Stäubli robot RX60 which plays a role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired displacements of the end of the laparoscope is obtained by a movement of a joystick or commends from the speech recognition system. In this paper simulation applications and experimental results are presented.
This work was supported by the Ministry of Science and Informatics under grant no. 4 T11A 026 22, entitled “Multi-level Control System of a Manipulator for Laparoscopy in Surgery”
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Sauer, P., Kozlowski, K., Waliszewski, W., Jeziorek, P. (2006). ASYSTENT - Control System of a Manipulator for Keyhole Surgery. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_4
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DOI: https://doi.org/10.1007/3-540-26415-9_4
Publisher Name: Springer, Berlin, Heidelberg
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