Automated Tool Handling for the Traumapod Surgical Robot

Friedman, D.W. and Dosher, J. and Kowalewski, T. and Rosen, J. and Hannaford, B. (2007) Automated Tool Handling for the Traumapod Surgical Robot. In: Proceedings of IEEE Int. Conf. on Robotics and Automation, ICRA2007, Rome Italy.

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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.

Item Type: Conference or Workshop Item (Paper)
Subjects: C Surgical Robots > CB Automated Tools
Depositing User: Andrew Haddock
Date Deposited: 15 Jul 2015 17:30
Last Modified: 15 Jul 2015 17:30
URI: http://brl.ee.washington.edu/eprints/id/eprint/169

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