title: Control system architecture for a minimally invasive surgical robot.
abstract: 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.
authors.affiliation: Department of Electrical Engineering, University of Washington, Seattle, WA, USA. kfodero@u.washington.edu
authors.forename: Kenneth
authors.initials: K
authors.lastname: Fodero
authors.forename: H Hawkeye
authors.initials: HH
authors.lastname: King
authors.forename: Mitchell J H
authors.initials: MJ
authors.lastname: Lum
authors.forename: Clint
authors.initials: C
authors.lastname: Bland
authors.forename: Jacob
authors.initials: J
authors.lastname: Rosen
authors.forename: Mika
authors.initials: M
authors.lastname: Sinanan
authors.forename: Blake
authors.initials: B
authors.lastname: Hannaford
mesh_terms: D006801:Humans; D019060:Minimally Invasive Surgical Procedures; D012371:Robotics / Q000295:instrumentation*; D012449:Safety; D017216:Telemedicine; D014481:United States