Control system architecture for a minimally invasive surgical robot.
As the field of surgical robotics continues to evolve, it is important to keep patient safety in mind. This paper describes a safety control architecture aimed at moving an experimental system in the direction of intrinsically safe operation. The system includes safety features such as: a small number of states, Programmable Logic Controller (PLC) state transition control, active enable, brakes, E-STOP, and a surgeon foot pedal.
Fodero
Kenneth
K
Department of Electrical Engineering, University of Washington, Seattle, WA, USA. kfodero@u.washington.edu
King
H Hawkeye
HH
Lum
Mitchell J H
MJ
Bland
Clint
C
Rosen
Jacob
J
Sinanan
Mika
M
Hannaford
Blake
B
D006801:Humans; D019060:Minimally Invasive Surgical Procedures; D012371:Robotics / Q000295:instrumentation*; D012449:Safety; D017216:Telemedicine; D014481:United States