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 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.

• Fecha de publicación: 2016
• Institución: Universidad Pedagógica y Tecnológica de Colombia
• Repositorio: RiUPTC: Repositorio Institucional UPTC
• Idioma: spa
• OAI Identifier: oai:repositorio.uptc.edu.co:001/14140
• Acceso en línea: https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627; https://repositorio.uptc.edu.co/handle/001/14140
• Palabra clave: maparoscopic; modeling robot; surgical robotics; surgical simulator virtual robot; laparoscopia; modelado de robots; robot virtual; robótica quirúrgica; simulador quirúrgico
• License: http://purl.org/coar/access_right/c_abf155