Title: Control System for Enhancing the Safety of Laparoscopic Surgical Robot
Abstract: In this paper, a control system for enhancing the safety of robotic surgery is discussed. A switching control system was proposed for a laparoscopic surgical robot, in which the control system is automatically changed based on the existence of a robotic forceps in a laparoscopic image. The detection of the robotic forceps in the laparoscopic image is executed through image processing on the basis of threshold criteria. When the robotic forceps was identified as outside of the laparoscopic field of view, a position tracking control combined with an impedance control is performed. In this case, when the robotic forceps contacted with an internal organ outside the laparoscopic field of view, the control system loosens contact force between the robotic forceps and the internal organ. Thus, the risk that the surgical robot unexpectedly damages the internal organ is expected to be reduced. On the other hand, when the robotic forceps was identified as inside of the laparoscopic field of view, a position tracking control is performed. In this case, an operator of the surgical robot can obtain any contact force needed for performing the surgical procedure between the robotic forceps and the internal organ inside the laparoscopic field of view. The proposed switching control system was applied to a robotic surgical system developed in our previous study, and its effectiveness was verified through evaluation experiments.
Publication Year: 2017
Publication Date: 2017-01-01
Language: en
Type: article
Indexed In: ['crossref']
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