Control system architecture for a minimally invasive surgical robot.
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Date
2006-01-11
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Abstract
As 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