A force-controlled human-assistive robot for laparoscopic surgery

摘要

In this contribution a novel human-assistive robot for laparoscopic surgery is presented. The purpose of the proposed system is to improve the ergonomics of laparoscopic surgery by reducing the physical load on the surgeon. Selected examples of existing robotic systems for medical and manufacturing applications are compared to the suggested system. After a brief description of the system's main features, a velocity-based admittance controller for regulating the interaction force is introduced. The desired interaction force is the sum of the required supporting force and a force-feedback, signalizing workspace constraints. The supporting force varies in magnitude and direction depending on the surgeon's posture and allows for individual adjustments to the needs of the surgeon on duty.