Tele-Robotic Surgical Arm System with Efficient Tactile Sensors in the Manipulators

摘要

Tele-medicine is a new and hopeful application in the field of medical science. Medical consulting and remote medical procedures or examinations became more successful with the development of interactive audiovisual systems and distant movable robotic platforms. Tele-presence requires real time video communication. Fixed mounting of video device on mobile robotic platform limits the video projection at positive vision angle, thus restricting the remote doctor in obtaining the better and correct visual information of the patient. To avoid the problem, this paper presents a flexible robotic arm with vision system. A thirteen degree of freedom robotic arm with extending and retracting quality enables the remote doctor to clear the attached video device on robotic arm to object area on patient. The rising necessity for robotic applications in dynamic unstructured environments is inspiring the need for dexterous end-effectors which have the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. This hand gripper is the wide working space compared with its physical dimensions and the capability to deal with objects in working environment conditions. This capability is achieved by using force/torque sensor and by properly controlling and coordinating the gripper and the carrying arm Note that with this control structure, it is also very simple to connect the arm/gripper system using Internet to other computational resources or robotic devices, for example to emulate tele-operation tasks.