Control Software Design of A Compact Laparoscopic Surgical Robot System

– We have developed a prototype teleoperated robotic surgical system which is modular, compact and easy to use. In this paper, the control software design of the prototype is introduced. The main function of the control software is to realize master-slave control. According to the functions, The control software consists of three layers: hardware drivers, master-slave control and human-machine interface. Each software layer includes several software modules which are easy to maintain, upgrade and are stable and reliable. The preliminary motion control and experimental results are given in the end.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Ji Ma, Peter J. Berkelman
• Keywords: Control Software, Control Software Design, IROS 2006, Master-slave Control, Robotics