Modular robot interface for a smart operating theater.

Autor: Prokhorenko L; Technobiomed, A.I. Yevdokimov Moscow State University of Medicine and Dentistry, Delegatskaya st. 20/1, Moscow, 127473, Russian Federation. pro.leonid@gmail.com., Klimov D; Technobiomed, A.I. Yevdokimov Moscow State University of Medicine and Dentistry, Delegatskaya st. 20/1, Moscow, 127473, Russian Federation., Mishchenkov D; Technobiomed, A.I. Yevdokimov Moscow State University of Medicine and Dentistry, Delegatskaya st. 20/1, Moscow, 127473, Russian Federation., Poduraev Y; Technobiomed, A.I. Yevdokimov Moscow State University of Medicine and Dentistry, Delegatskaya st. 20/1, Moscow, 127473, Russian Federation.
Jazyk: angličtina
Zdroj: Journal of robotic surgery [J Robot Surg] 2023 Aug; Vol. 17 (4), pp. 1721-1733. Date of Electronic Publication: 2023 Mar 28.
DOI: 10.1007/s11701-023-01580-4
Abstrakt: This paper discusses the architecture and implementation of a modular component of the smart operating theater digital twin, designed to control robotic equipment-the robot interface module. This interface is designed to ensure equipment operation both in a real smart operating theater and in the virtual space of its digital twin-the computer simulation. Using such an interface in the digital twin will make it possible to use it in computer-assisted training of surgeons, preliminary planning, post-analysis, and simulation, preceding the operation of real equipment. An experimental implementation of a prototype robot interface to enable the KUKA LBR Med 14 R820 medical robot operation using the FRI protocol was developed, and experiments were performed on real equipment and its digital twin.
(© 2023. The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature.)
Databáze: MEDLINE
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