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[202] Citation: D.W. Friedman, J. Dosher, T. Kowalewski, J. Rosen, B. Hannaford,
'Automated Tool Handling for the Traumapod Surgical Robot,'
Proceedings of IEEE Int. Conf. on Robotics and Automation, ICRA2007, Rome Italy, May 2007.
Abstract
In order to enable robotic surgery without human assistance, a means must be developed
to change tools. As part of the larger Traumapod Project, we developed the Tool Rack
Subsystem --- an automated tool rack capable of holding, accepting, and dispensing
up to 14 tools for the DaVinci(TM) surgical robot. Borrowing some techniques from industrial
automation, we developed a robust system capable of presenting any stored tool in
700 ms or less. Tools were positively retained in a sterilizable carosel in a
compliant manner designed to accomodate misalignment during tool exchange.
RFID equipment was integrated into the system and the tools so that
tools could be inventoried and presented by function or serial number instead of rack position.
The resulting device has completed testing and integration into the Traumapod system and
met all its design requirements.
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Updated: Tue Jul 15 23:54:51 2008
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