Control and user interface design for compact manipulators in minimally-invasive surgery

Peter Berkelman (1) , Eric Boidard (1) , Philippe Cinquin (1) , Jocelyne Troccaz (2)

1 TIMC-IMAG - Techniques de l'Ingénierie Médicale et de la Complexité - Informatique, Mathématiques et Applications, Grenoble - UMR 5525
2 TIMC-IMAG-GMCAO - Gestes Medico-chirurgicaux Assistés par Ordinateur

This paper describes the control system and user command interfaces developed for a lightweight, compact, endoscope camera manipulator prototype for robot-assistedminimally invasive surgery. A complete teleoperated minimallyinvasive surgical system in development is also based on using lightweight, compact manipulators with simple, reliable, and robust controllers. The endoscope manipulator is controlled by a single-board computer and individual motor controllers. The single-board computer processes user commands and generates control mode and analog velocity commands for the motor controllers. A miniature keypad attached to one of the surgical instruments and a voice recognition system with a foot pedal are used asuser command interfaces.

Mots clés: medical robotics; endoscopy; man-machine interfaces

Domaines: Autre [cs.OH]; Robotique [cs.RO]; Ingénierie biomédicale

Peter Berkelman, Eric Boidard, Philippe Cinquin, Jocelyne Troccaz. Control and user interface design for compact manipulators in minimally-invasive surgery. IEEE Conference on Control Applications, Aug 2005, Toronto, Canada. pp.25-30. ⟨hal-00294507⟩