A fail-safe dual channel robot control for surgery applications |
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| Institution: | 1. Laboratory of Biochemistry and Molecular Biology, School of Marine Sciences, Ningbo University, Ningbo 315211, China;2. Collaborative Innovation Center for Zhejiang Marine High-efficiency and Healthy Aquaculture, Ningbo University, Ningbo 315211, China;1. College of Education, University of Washington, Box 353600, Seattle, WA, 98195-3600, United States;2. College of Education, Florida State University, 1114 W. Call Street, Tallahassee, FL, 32306-4450, United States;1. University of Zielona Góra, ul. Szafrana 2, 65-516 Zielona Góra, Poland;2. Department of Electronics and Computer Science, University of Southampton, Southampton SO17 1BJ, United Kingdom |
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| Abstract: | This paper presents the architecture of a fail-safe control for robotic surgery that uses two independent processing units to calculate the position values and compares the results before passing them to the drives. The presented system also includes several other safety functions like a redundant measuring system realized as a tripod within the hexapod kinematics, monitoring functions or watchdogs. The safety requirements for the system are derived from the regulations of the medical device directive (MDD) and from a risk analysis of the control system. |
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