Evaluation of an IEEE 11073 SDC Connection of two KUKA Robots towards the Application of Focused Ultrasound in Radiation Therapy : Current Directions in Biomedical Engineering

摘要

The integration of surgical robotics into the operating room requires reliable and flexible communication with other medical devices. The IEEE 11073 SDC standard can provide the necessary requirements to deploy robotics for the application of focused ultrasound in radiation therapy. The aim of this work was to implement and evaluate an SDC compliant connection between two collaborative robots. For this purpose, the KUKA LBR iiwa 7 R800 was adapted and the connectivity modelled and then tested successfully with 42 transmittable properties. Latency measurements were conducted to evaluate the network stability, resulting in a median round trip time of 10.13 ms.