On the development of a portable, cost effective and compact master/slave system for robot-assistec Minimally Invasive Surgery
- Authors: Saafi, Houssem , Laribi, Med Amine , Zeghloul, Said , Ibrahim, Yousef
- Date: 2017
- Type: Text , Conference proceedings , Conference paper
- Relation: 2017 IEEE International Conference on Mechatronics, ICM 2017; Gippsland, Australia;13th-15th February 2017 p. 290-296
- Full Text: false
- Reviewed:
- Description: Tele-operation systems offer more security and comfort to the surgeon in Minimally Invasive Surgery (MIS). This paper presents a new tele-operation system for MIS. This system was designed to be efficient, portable, compact and affordable. The developments of master and slave robots of the teleoperation system are presented. Some issues encountered in the development of these robots are studied here. The main issues are as follows: the presence of the singularities in the workspace of the master robot, the complexity of the master forward kinematic model due to its parallel structure and the difference between the kinematics of the master and the slave robots. Those issues are solved using different techniques which are presented in this paper. Finally, experimental validations of the developed teleoperation system were carried out successfully. © 2017 IEEE.
- Description: Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
Movement safety control method of a haptic device for Minimally Invasive Surgery
- Authors: Saafi, Houssem , Laribi, Med Amine , Zeghloul, Saïd , Ibrahim, Yousef
- Date: 2014
- Type: Text , Conference paper
- Relation: 2014 IEEE 23rd International Symposium on Industrial Electronics (ISIE) p. 1233-1238
- Full Text: false
- Reviewed:
- Description: Abstract: The overall objective of this work is to develop a system composed of master, slave and a control system for special medical applications. A PROMIS (Pprime RObot for Minimally Invasive Surgery) system is designed to be cost-effective with a less complication of use and an application-specific for collaborative operations between the surgeon and the robot. This paper focuses on the introduction of a motion safety control methodology for a haptic device. The haptic device is used as a master with a parallel spherical architecture (SPM). The introduced control methodology is based on the workspace of the medical application. Three areas of the workspace are defined with a consideration of the degree of security. An algorithm that constantly keeps the mobile platform in a safe region, when the surgeon moves it, is presented and explained. The developed algorithm runs in real-time using a programmable logic controller (PLC). The control strategy of the haptic device was successfully tested and validated experimentally.