Development and control of a robotic system for no-scar surgery
Identifieur interne : 000102 ( Main/Exploration ); précédent : 000101; suivant : 000103Development and control of a robotic system for no-scar surgery
Auteurs : Antonio De Donno [France]Source :
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English descriptors
Abstract
No-scar surgery, which aims at performing surgical operations without visible scars, is the vanguard in the field of Minimally Invasive Surgery (MIS). The lack of adequate instrumentation is one of the issues to its clinical routine use. In this context, we introduce a novel teleoperated surgical robot, consisting of an endoscope and two flexible instruments, with 10 motorized DOFs. This thesis investigates the possibilities to control the system. The robot kinematics is analyzed, and differentmaster/slave control strategies, ranging from joint to Cartesian control, are proposed. These strategies have been tested on a specifically developed virtual simulator and on the real system in laboratory and ex-vivo experiments. The results show that a single user is capable to control the robotic system and to perform complex tasks by means of two haptic interfaces.
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