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Design of an Intermediate Layer to Enhance Operator Awareness and Safety in Telesurgical Systems

På svenska

Author

  • Jang Ho Cho
  • Pål Johan From
  • Magnus Annerstedt
  • Anders Robertsson
  • Rolf Johansson

Summary, in English

This paper presents a novel control architecture for enhanced operator awareness and improved safety in telesurgical systems. We introduce an intermediate layer between the master and slave sides which allows us to modify the slave motion for safety and the force feedback for operator awareness. The intermediate layer is then designed with a performance objective for the specific task at hand. The control scheme is validated via experiments using a suture and an industrial manipulator. More specifically we show that operator awareness should be implemented as an integrated part of the safety level to maintain safety during surgery.

Publishing year

2012

Language

English

Pages

1292-1297

Publication/Series

Proc. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2012), October 7-12, 2012. Vilamoura, Algarve, Portugal

Document type

Conference paper

Publisher

IEEE - Institute of Electrical and Electronics Engineers Inc.

Topic

  • Control Engineering

Conference name

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)

Conference date

2012-10-07

Conference place

Vilamoura, Portugal

Status

Published

Project

  • RobotLab LTH
  • LCCC

Research group

  • LCCC

ISBN/ISSN/Other

  • ISSN: 2153-0858
  • ISSN: 2153-0866