Design and modeling of a virtual PA-10 robot for surgical applications/ Diseno y modelado del robot PA-10 virtual para aplicaciones quirurgicas/ Desenho e modelamento do robo PA-10 virtual para aplicacoes cirurgicas

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...

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Bibliographic Details
Published in:Revista FI-UPTC 2016-05, Vol.25 (42), p.21
Main Authors: Fernandez-Riomalo, Carlos Eduardo, Guastar-Morillo, Hector Andres, Vivas-Alban, Oscar Andres
Format: Article
Language:Spanish
Online Access:Get full text
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Summary: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.
ISSN:0121-1129
DOI:10.19053/01211129.4627