Automated tool handling for the trauma pod surgical robot

Diana C W Friedman, Jesse Dosher, Tim Kowalewski, Jacob Rosen, Blake Hannaford

Research output: Chapter in Book/Report/Conference proceedingConference contribution

19 Scopus citations

Abstract

In order to enable robotic surgery without human assistance, a means must be developed to change tools. As part of the larger Trauma Pod Project, we developed the Tool Rack Subsystem - an automated tool rack capable of holding, accepting, and dispensing up to 14 tools for the da Vinci™ surgical robot. Borrowing some techniques from industrial automation, we developed a robust system capable of presenting any stored tool in 700ms or less. Tools are positively retained in a sterilizable carousel in a compliant manner designed to accomodate misalignment during tool exchange. RFID equipment is integrated into the system and the tools so that tools can be inventoried and presented by function or serial number instead of rack position. The resulting device has completed testing and integration into the Trauma Pod system and met all its design requirements.

Original languageEnglish (US)
Title of host publication2007 IEEE International Conference on Robotics and Automation, ICRA'07
Pages1936-1941
Number of pages6
DOIs
StatePublished - Nov 27 2007
Event2007 IEEE International Conference on Robotics and Automation, ICRA'07 - Rome, Italy
Duration: Apr 10 2007Apr 14 2007

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2007 IEEE International Conference on Robotics and Automation, ICRA'07
CountryItaly
CityRome
Period4/10/074/14/07

Fingerprint Dive into the research topics of 'Automated tool handling for the trauma pod surgical robot'. Together they form a unique fingerprint.

Cite this