Risk analysis for fail-safe motion control implementation in surgical robotics

V F Munoz,I Garciamorales,J Fernandezlozano,J Gomezdegabriel,A Garciacerezo,C Vara

Automation Congress, 2004. Proceedings. World（2004）

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摘要

This paper describes the design and implementation of a motion control architecture for the robotic assistant ERM (endoscopic robotic manipulator), developed by the authors for handling the camera in laparoscopic surgery. The system provides the direct control of the camera positioning inside the abdominal cavity, by means of surgeon voice commands. This motion controller is implemented on a fail-safe architecture, designed from a failure mode effect analysis (FMEA). The system has been tested by means of experimentation with live animals

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关键词

adaptive control,cameras,control system synthesis,endoscopes,failure analysis,medical robotics,motion control,position control,risk analysis,surgery,abdominal cavity,camera positioning control,control design,endoscopic robotic manipulator,fail-safe motion control architecture,failure mode effect analysis,laparoscopic surgery,surgeon voice commands,surgical robotics,failure mode

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