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Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .
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Armstrong has developed a simplified version of the laparoscopy robot used in MIDSTEP as a telecontrol robot for laparscopy surgey. The system consits of a 4 degree of freedom tele-robot which holds and moves a laparoscopic camera or ultrasound probe inside a patient. The tele-robot can be controlled either locally or by a remote koystick using ISDN or analogue telephony in conjunction with a teleconferencing system. The local version was commercilay available before MIDSTEP, and is marked as EndoAssist.The addition of a tele-control variant, marketed as EndoAssist telecontrol is a direct result of the EndoAssist. Surgeons are interested in the concept of telecontrolfor laparoscopy because it facilitaes training and mentoring and because it enables an experienced surgeon to guide less-experienced colleagues in distant hospitals and clinics. An example is th euse of EndAssist telecontrol in Norway to allow remote clinics to be linked by teleconferencing and robotics to a major surgical centre in Trondheim. This allows patients to be treated locally who would otherwise need to be evacuated in difficult winter conditions to a major hospital.
The 3D graphical control station for the supervision of medical telerobots is a software operating under Windows-NT. It manages a human-computer interface thar provides an operator with th acapability to easily pilot a telerobot under a supervisort control scheme. Based on a 3D model of the remote worksspace the system displays synthetic views of the robot and its sourroundings according to the most relevant points of view (concept of virtual camera) . Working inside the virtual environment, the operator generates orders to the robot using a Graphical Supervision Language. In this context, his part mainly consists in specifying the actions to be carried out by manpulating inside the 3D model variuos tools that interact with th erelevant environment objects:- some of these tools stand for the instruments required to perform the task (for example, an US probe); - others ar elinked with the elementary telerobot functions that are associeted with the previous instruments (lock the tool on its axis, for instance);- the purpose of the last ones is to define the parameters of the process (such as a trajectory used by the robot to position tools in the working area).These virtual tools have their own graphical shape and behaviours (like moving along the surfacde of an object) that ease their manipulation by the oprator.The 3D graphical control alse features a 6 degrees of freedom hand controller used to manually pilot the distant robot.
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