Improved control system of a bimanual robotic system for telemicrosurgery assistance

Details

Supervisors

Herman, Benoît ; Dehez, Bruno

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] : ingénieur civil électromécanicien, à finalité spécialisée: mécatronique

Abstract

Since first the vascular ligature traced back to the mid 1500s, surgery has evolved greatly. The use of robot has helped make difficult operation more accessible. Specialized robot are being developed for different surgeries. In this optic, the Astema, a tele-operated robot was designed by Léna Vanthournhout for her Phd thesis. This robot is made for micro anastomoses. The micro anastomoses consists in reattaching blood and lymphatic vessels with a diameter below the millimeter or nerves. This master thesis follows in the step of Léna’s thesis. The goal of this thesis is to improve the timing of the control loop of the Astema. It is done by using a different hardware for the control. The first part will describe the context and objectives of this thesis. In the second part, the differences between the first version of the Astema and the second will be detailed. The third part will explain how the joystick has been connected to the new controller. This has been done using the OpenHaptics and the ADS libraries. Between the joystick and ADS communication, we will find an adaptation of the Astema V1 controller. The Fourth part will explain how TwinCAT® has been used to control the robot. This will be done using the Tc2_Mc2 library. And Finally, we will analyze the timing of the two parts of our controller.