Browsing by Author "Rosen, Jacob"
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- ItemControl system architecture for a minimally invasive surgical robot.(2006-01-11) Fodero, Kenneth; King, H Hawkeye; Lum, Mitchell J H; Bland, Clint; Rosen, Jacob; Sinanan, Mika; Hannaford, BlakeAs the field of surgical robotics continues to evolve it is important to keep patient safety in mind This paper describes a safety control architecture aimed at moving an experimental system in the direction of intrinsically safe operation The system includes safety features such as a small number of states Programmable Logic Controller PLC state transition control active enable brakes E STOP and a surgeon foot pedal
- ItemObjective assessment of telesurgical robot systems: Telerobotic FLS.(2008-04-08) Lum, Mitchell J H; Friedman, Diana C W; Sankaranarayanan, Ganesh; King, Hawkeye; Wright, Andrew; Sinanan, Mika; Lendvay, Thomas; Rosen, Jacob; Hannaford, BlakeThe Society of American Gastrointestinal Endoscopic Surgeons SAGES Fundamentals of Laparoscopic Surgery FLS program contains curriculum that includes both a cognitive and psychomotor skills In this research the use of FLS Block Transfer task is used to evaluate the performance of surgeons teleoperating the University of Washington Surgical robot The use of the FLS Trainer Box and accessories kit provides a well defined series of tasks that can be repeated by any researchers working in the field of surgical robotics so that systems can be evaluated using a common method
- ItemOptimization of a spherical mechanism for a minimally invasive surgical robot: theoretical and experimental approaches.(2006-07-11) Lum, Mitchell J H; Rosen, Jacob; Sinanan, Mika N; Hannaford, BlakeWith a focus on design methodology for developing a compact and lightweight minimally invasive surgery MIS robot manipulator the goal of this study is progress toward a next generation surgical robot system that will help surgeons deliver healthcare more effectively Based on an extensive database of in vivo surgical measurements the workspace requirements were clearly defined The pivot point constraint in MIS makes the spherical manipulator a natural candidate An experimental evaluation process helped to more clearly understand the application and limitations of the spherical mechanism as an MIS robot manipulator The best configuration consists of two serial manipulators in order to avoid collision problems A complete kinematic analysis and optimization incorporating the requirements for MIS was performed to find the optimal link lengths of the manipulator The results show that for the serial spherical 2 link manipulator used to guide the surgical tool the optimal link lengths angles are 60 degrees 50 degrees A prototype 6 DOF surgical robot has been developed and will be the subject of further study
- ItemTelesurgery and robotics.(2007-09-12) Doarn, Charles R; Hufford, Kevin; Low, Thomas; Rosen, Jacob; Hannaford, Blake