Abstract
paper describes a master-slave surgical robotic system with software modular system design, which integrates various independently developed surgical devices. When we add new functions to the developed modular system, there is no need for time-consuming redesign of the entire system. However, we cannot evaluate the computational system load exactly because the system configuration changes according to the components included. A master-slave system should be a stable and reliable control system with high sampling frequency to enable human visual feedback control. Moreover, it requires consistent master-slave operation on the integrated component. To maintain reliable real-time performance and consistent operation, even with changes in system configuration, we introduced a software system consisting of; A position registration system to realize consistent operation on the integrated component, modular asynchronous system to avoid performance changes caused by the introduction of various subsystems and a management system to arbitrate inconsistencies between systems. An optical tracking system is used to integrate position and motion information of the subsystems to simplify setup in an operating theater. We evaluated the feasibility of the modular master-slave system by integrating independently developed components into the system. The results of the evaluation experiments showed that we could control all the subsystems consistently as an entire master-slave surgical system on an integrated coordinate system with stable real-time response.
| Original language | English |
|---|---|
| Title of host publication | Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 |
| Pages | 80-86 |
| Number of pages | 7 |
| DOIs | |
| Publication status | Published - Dec 22 2006 |
| Event | 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 - Pisa, Italy Duration: Feb 20 2006 → Feb 22 2006 |
Publication series
| Name | Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 |
|---|---|
| Volume | 2006 |
Other
| Other | 1st IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006 |
|---|---|
| Country | Italy |
| City | Pisa |
| Period | 2/20/06 → 2/22/06 |
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All Science Journal Classification (ASJC) codes
- Engineering(all)
Cite this
Modular design of master-slave surgical robotic system with reliable real-time control performance. / Aoki, Eisuke; Suzuki, Takashi; Kobayashi, Etsuko; Sakuma, Ichiro; Kozo, Konishi; Hashizume, Makoto.
Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006. 2006. p. 80-86 1639064 (Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006; Vol. 2006).Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Modular design of master-slave surgical robotic system with reliable real-time control performance
AU - Aoki, Eisuke
AU - Suzuki, Takashi
AU - Kobayashi, Etsuko
AU - Sakuma, Ichiro
AU - Kozo, Konishi
AU - Hashizume, Makoto
PY - 2006/12/22
Y1 - 2006/12/22
N2 - paper describes a master-slave surgical robotic system with software modular system design, which integrates various independently developed surgical devices. When we add new functions to the developed modular system, there is no need for time-consuming redesign of the entire system. However, we cannot evaluate the computational system load exactly because the system configuration changes according to the components included. A master-slave system should be a stable and reliable control system with high sampling frequency to enable human visual feedback control. Moreover, it requires consistent master-slave operation on the integrated component. To maintain reliable real-time performance and consistent operation, even with changes in system configuration, we introduced a software system consisting of; A position registration system to realize consistent operation on the integrated component, modular asynchronous system to avoid performance changes caused by the introduction of various subsystems and a management system to arbitrate inconsistencies between systems. An optical tracking system is used to integrate position and motion information of the subsystems to simplify setup in an operating theater. We evaluated the feasibility of the modular master-slave system by integrating independently developed components into the system. The results of the evaluation experiments showed that we could control all the subsystems consistently as an entire master-slave surgical system on an integrated coordinate system with stable real-time response.
AB - paper describes a master-slave surgical robotic system with software modular system design, which integrates various independently developed surgical devices. When we add new functions to the developed modular system, there is no need for time-consuming redesign of the entire system. However, we cannot evaluate the computational system load exactly because the system configuration changes according to the components included. A master-slave system should be a stable and reliable control system with high sampling frequency to enable human visual feedback control. Moreover, it requires consistent master-slave operation on the integrated component. To maintain reliable real-time performance and consistent operation, even with changes in system configuration, we introduced a software system consisting of; A position registration system to realize consistent operation on the integrated component, modular asynchronous system to avoid performance changes caused by the introduction of various subsystems and a management system to arbitrate inconsistencies between systems. An optical tracking system is used to integrate position and motion information of the subsystems to simplify setup in an operating theater. We evaluated the feasibility of the modular master-slave system by integrating independently developed components into the system. The results of the evaluation experiments showed that we could control all the subsystems consistently as an entire master-slave surgical system on an integrated coordinate system with stable real-time response.
UR - http://www.scopus.com/inward/record.url?scp=33845576746&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33845576746&partnerID=8YFLogxK
U2 - 10.1109/BIOROB.2006.1639064
DO - 10.1109/BIOROB.2006.1639064
M3 - Conference contribution
AN - SCOPUS:33845576746
SN - 1424400406
SN - 9781424400409
T3 - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
SP - 80
EP - 86
BT - Proceedings of the First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006, BioRob 2006
ER -