학술논문
On the control system for the robotic assisted instruments used in percutaneous cancer treatment
Document Type
Conference
Author
Source
2022 26th International Conference on System Theory, Control and Computing (ICSTCC) System Theory, Control and Computing (ICSTCC), 2022 26th International Conference on. :283-288 Oct, 2022
Subject
Language
Abstract
The paper presents the control system of two medical instruments used in percutaneous cancer treatment. One instrument is designed for radiofrequency ablation and the other one for brachytherapy. The instruments may be attached to various robots capable of providing 5 Degrees of Freedom. Two robotic solutions are used for exemplifying this capability, namely the Kuka iiwa robot and the PARA-BRACHYROB. The developed control system is capable to communicate with both robots using MATLAB environment and different communication protocols to establish the connections between the robot control units.