- Title
- On the development of a portable, cost effective and compact master/slave system for robot-assistec Minimally Invasive Surgery
- Creator
- Saafi, Houssem; Laribi, Med Amine; Zeghloul, Said; Ibrahim, Yousef
- Date
- 2017
- Type
- Text; Conference proceedings; Conference paper
- Identifier
- http://researchonline.federation.edu.au/vital/access/HandleResolver/1959.17/157692
- Identifier
- vital:11659
- Identifier
-
https://doi.org/10.1109/ICMECH.2017.7921119
- Identifier
- ISBN:9781509045389 (ISBN)
- Abstract
- 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.; Proceedings - 2017 IEEE International Conference on Mechatronics, ICM 2017
- Publisher
- Institute of Electrical and Electronics Engineers Inc.
- Relation
- 2017 IEEE International Conference on Mechatronics, ICM 2017; Gippsland, Australia;13th-15th February 2017 p. 290-296
- Rights
- Copyright © 2017 IEEE.
- Rights
- This metadata is freely available under a CCO license
- Subject
- Forward Kinematic Model; Minimally Invasive Surgery; Singularity; Spherical Parallel Manipulator; Teleoperation system
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