Abstract
System for remote manipulating of endoscopic vision channel as support for minimal invasive surgery is presented. Original control system for telemanipulator working in Master-Slave configuration is implemented on Real Time system and partially as a interface for Master unit on reprogramovable FPGA, Xilinx, where data acquisition and processing algorithm work directly on silicon. An experimental set-up for long distance operation is also described, where surgeon , operator was steering the Master console in Institute of Heart Prostheses in Zabrze and Slave robot arm, equipped with vision channel or coagulation knife carried out operation on pig heart in Center of Experimental Medicine of Silesian Medical University in Katowice (about 30km distance). Results as delays in audio/video channel and motion data transmission were measured. After tele-lab monitoring and control tasks, presented remote manipulation is next step in the program of tele-projects, carried out by Institute of Heart Prostheses Foundation for Cardiac Surgery Development in Zabrze.
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© 2012 Springer-Verlag GmbH Berlin Heidelberg
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Kostka, P., Nawrat, Z. (2012). Tele-Manipulation System for Minimal Invasive Surgery Support. Prototype for Long Distance Operation. In: Kapczyński, A., Tkacz, E., Rostanski, M. (eds) Internet - Technical Developments and Applications 2. Advances in Intelligent and Soft Computing, vol 118. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25355-3_24
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DOI: https://doi.org/10.1007/978-3-642-25355-3_24
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