Design and modeling of a virtual PA-10 robot for surgical applications
This paper shows the implementation of a PA-10 Mitsubishi robot on a surgical virtual simulator for laparoscopic surgeries by using surgical assistant robots. For the proposed simulator three robots are necessary: An endoscope-holder robot (in this case the Hibou robot), and two surgical robots (in...
| Main Authors: | , , |
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| Format: | Online |
| Language: | spa |
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Universidad Pedagógica y Tecnológica de Colombia
2016
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| Online Access: | https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627 |
| _version_ | 1801706073175883776 |
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| author | Fernández-Riomalo, Carlos Eduardo Guástar-Morillo, Héctor Andrés Vivas-Albán, Oscar Andrés |
| author_facet | Fernández-Riomalo, Carlos Eduardo Guástar-Morillo, Héctor Andrés Vivas-Albán, Oscar Andrés |
| author_sort | Fernández-Riomalo, Carlos Eduardo |
| collection | OJS |
| description | This paper shows the implementation of a PA-10 Mitsubishi robot on a surgical virtual simulator for laparoscopic surgeries by using surgical assistant robots. For the proposed simulator three robots are necessary: An endoscope-holder robot (in this case the Hibou robot), and two surgical robots (in this case a Lapbot robot and the designed PA-10 robot). The three robots are manipulated by a joystick device on a gallbladder ablation exercise (cholecystectomy). Deformation algorithms are included to provide greater realism, when the end-effector of the robot collides with the PA-10 virtual robot, abdominal organ. Results provide the base of a surgical virtual simulator using three assistant robots on a common laparoscopic surgical exercise, that can be used for training new surgeons. |
| format | Online |
| id | oai:oai.revistas.uptc.edu.co:article-4627 |
| institution | Revista Facultad de Ingeniería |
| language | spa |
| publishDate | 2016 |
| publisher | Universidad Pedagógica y Tecnológica de Colombia |
| record_format | ojs |
| spelling | oai:oai.revistas.uptc.edu.co:article-46272022-06-15T16:22:52Z Design and modeling of a virtual PA-10 robot for surgical applications Diseño y modelado del robot PA-10 virtual para aplicaciones quirúrgicas Fernández-Riomalo, Carlos Eduardo Guástar-Morillo, Héctor Andrés Vivas-Albán, Oscar Andrés maparoscopic modeling robot surgical robotics surgical simulator virtual robot laparoscopia modelado de robots robot virtual robótica quirúrgica simulador quirúrgico This paper shows the implementation of a PA-10 Mitsubishi robot on a surgical virtual simulator for laparoscopic surgeries by using surgical assistant robots. For the proposed simulator three robots are necessary: An endoscope-holder robot (in this case the Hibou robot), and two surgical robots (in this case a Lapbot robot and the designed PA-10 robot). The three robots are manipulated by a joystick device on a gallbladder ablation exercise (cholecystectomy). Deformation algorithms are included to provide greater realism, when the end-effector of the robot collides with the PA-10 virtual robot, abdominal organ. Results provide the base of a surgical virtual simulator using three assistant robots on a common laparoscopic surgical exercise, that can be used for training new surgeons. El trabajo presenta la implementación de un simulador quirúrgico virtual para operaciones de laparoscopia utilizando asistentes robóticos. Para este tipo de simuladores son necesarios tres robots: un robot portaendoscopio (en este caso se utiliza un robot Hibou) y dos robots quirúrgicos (en este caso un robot Lapbot y un robot tipo PA-10). Los tres robots son manejados por joystick en un ejercicio de extracción de vesícula biliar (colecistectomía), y se incluyen en el ejercicio algoritmos de deformación que modifican los órganos al contacto del órgano terminal del robot PA-10, imprimiéndole mayor realismo al simulador. Los resultados proporcionan la base de un simulador quirúrgico utilizando tres robots asistenciales, en un ejercicio común en laparoscopia, ideal para el entrenamiento de nuevos cirujanos. Universidad Pedagógica y Tecnológica de Colombia 2016-05-03 info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion investigation investigación application/pdf text/html https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627 10.19053/01211129.4627 Revista Facultad de Ingeniería; Vol. 25 No. 42 (2016); 21-32 Revista Facultad de Ingeniería; Vol. 25 Núm. 42 (2016); 21-32 2357-5328 0121-1129 spa https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627/3798 https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627/5049 |
| spellingShingle | maparoscopic modeling robot surgical robotics surgical simulator virtual robot laparoscopia modelado de robots robot virtual robótica quirúrgica simulador quirúrgico Fernández-Riomalo, Carlos Eduardo Guástar-Morillo, Héctor Andrés Vivas-Albán, Oscar Andrés Design and modeling of a virtual PA-10 robot for surgical applications |
| title | Design and modeling of a virtual PA-10 robot for surgical applications |
| title_alt | Diseño y modelado del robot PA-10 virtual para aplicaciones quirúrgicas |
| title_full | Design and modeling of a virtual PA-10 robot for surgical applications |
| title_fullStr | Design and modeling of a virtual PA-10 robot for surgical applications |
| title_full_unstemmed | Design and modeling of a virtual PA-10 robot for surgical applications |
| title_short | Design and modeling of a virtual PA-10 robot for surgical applications |
| title_sort | design and modeling of a virtual pa 10 robot for surgical applications |
| topic | maparoscopic modeling robot surgical robotics surgical simulator virtual robot laparoscopia modelado de robots robot virtual robótica quirúrgica simulador quirúrgico |
| topic_facet | maparoscopic modeling robot surgical robotics surgical simulator virtual robot laparoscopia modelado de robots robot virtual robótica quirúrgica simulador quirúrgico |
| url | https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627 |
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