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Planning and Real Time Control of a Minimally Invasive Robotic Surgery System
Tobergte, Andreas and Konietschke, Rainer and Gerd, Hirzinger (2009) Planning and Real Time Control of a Minimally Invasive Robotic Surgery System. In: Proceedings. ICRA2009, International Conference on Robotics and Automation , 12. Mai - 17. Mai 2009, Kobe, Japan.
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Abstract
This paper introduces the planning and control software of a teleoperating robotic system for minimally invasive surgery. It addresses the problem of how to organize a complex system with 41 degrees of freedom including robot setup planning, force feedback control and nullspace handling with three robotic arms. The planning software is separated into sequentially executed planning and registration procedures. An optimal setup is first planned in virtual reality and then adapted to variations in the operating room. The real time control system is composed of hierarchical layers. The design is flexible and expandable without losing performance. Structure, functionality and implementation of planning and control are described. The robotic system provides the surgeon with an intuitive hand-eye-coordination and force feedback in teleoperation for both hands.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||
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| Title: | Planning and Real Time Control of a Minimally Invasive Robotic Surgery System | ||||||||
| Authors: |
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| Date: | 12 May 2009 | ||||||||
| Journal or Publication Title: | Proceedings | ||||||||
| Refereed publication: | Yes | ||||||||
| In ISI Web of Science: | No | ||||||||
| Status: | Published | ||||||||
| Keywords: | Real Time Control, Minimally Invasive Robotic Surgery System | ||||||||
| Event Title: | ICRA2009, International Conference on Robotics and Automation | ||||||||
| Event Location: | Kobe, Japan | ||||||||
| Event Type: | international Conference | ||||||||
| Event Dates: | 12. Mai - 17. Mai 2009 | ||||||||
| Organizer: | IEEE | ||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space | ||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research area: | Space | ||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||
| DLR - Research theme (Project): | W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old) | ||||||||
| Location: | Oberpfaffenhofen | ||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics > Robotic Systems | ||||||||
| Deposited By: | Gabriele Beinhofer | ||||||||
| Deposited On: | 14 Jan 2010 17:17 | ||||||||
| Last Modified: | 15 Jan 2010 02:38 |
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