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...

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Autores:
Tipo de recurso:
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
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License
http://purl.org/coar/access_right/c_abf155
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spelling 2016-05-032024-07-05T19:11:28Z2024-07-05T19:11:28Zhttps://revistas.uptc.edu.co/index.php/ingenieria/article/view/462710.19053/01211129.4627https://repositorio.uptc.edu.co/handle/001/14140This 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.application/pdftext/htmlspaspaUniversidad Pedagógica y Tecnológica de Colombiahttps://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627/3798https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627/5049Revista Facultad de Ingeniería; Vol. 25 No. 42 (2016); 21-32Revista Facultad de Ingeniería; Vol. 25 Núm. 42 (2016); 21-322357-53280121-1129maparoscopicmodeling robotsurgical roboticssurgical simulator virtual robotlaparoscopiamodelado de robotsrobot virtualrobótica quirúrgicasimulador quirúrgicoDesign and modeling of a virtual PA-10 robot for surgical applicationsDiseño y modelado del robot PA-10 virtual para aplicaciones quirúrgicasinvestigationinvestigacióninfo:eu-repo/semantics/articlehttp://purl.org/coar/resource_type/c_2df8fbb1info:eu-repo/semantics/publishedVersionhttp://purl.org/coar/version/c_970fb48d4fbd8a238http://purl.org/coar/version/c_970fb48d4fbd8a85http://purl.org/coar/access_right/c_abf155http://purl.org/coar/access_right/c_abf2Fernández-Riomalo, Carlos EduardoGuástar-Morillo, Héctor AndrésVivas-Albán, Oscar Andrés001/14140oai:repositorio.uptc.edu.co:001/141402025-07-18 11:53:37.518metadata.onlyhttps://repositorio.uptc.edu.coRepositorio Institucional UPTCrepositorio.uptc@uptc.edu.co
dc.title.en-US.fl_str_mv Design and modeling of a virtual PA-10 robot for surgical applications
dc.title.es-ES.fl_str_mv Diseño y modelado del robot PA-10 virtual para aplicaciones quirúrgicas
title Design and modeling of a virtual PA-10 robot for surgical applications
spellingShingle Design and modeling of a virtual PA-10 robot for surgical applications
maparoscopic
modeling robot
surgical robotics
surgical simulator virtual robot
laparoscopia
modelado de robots
robot virtual
robótica quirúrgica
simulador quirúrgico
title_short Design and modeling of a virtual PA-10 robot for surgical applications
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_sort Design and modeling of a virtual PA-10 robot for surgical applications
dc.subject.en-US.fl_str_mv maparoscopic
modeling robot
surgical robotics
surgical simulator virtual robot
topic maparoscopic
modeling robot
surgical robotics
surgical simulator virtual robot
laparoscopia
modelado de robots
robot virtual
robótica quirúrgica
simulador quirúrgico
dc.subject.es-ES.fl_str_mv laparoscopia
modelado de robots
robot virtual
robótica quirúrgica
simulador quirúrgico
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.
publishDate 2016
dc.date.accessioned.none.fl_str_mv 2024-07-05T19:11:28Z
dc.date.available.none.fl_str_mv 2024-07-05T19:11:28Z
dc.date.none.fl_str_mv 2016-05-03
dc.type.en-US.fl_str_mv investigation
dc.type.es-ES.fl_str_mv investigación
dc.type.none.fl_str_mv info:eu-repo/semantics/article
dc.type.coar.fl_str_mv http://purl.org/coar/resource_type/c_2df8fbb1
dc.type.coarversion.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a85
dc.type.version.spa.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.coarversion.spa.fl_str_mv http://purl.org/coar/version/c_970fb48d4fbd8a238
status_str publishedVersion
dc.identifier.none.fl_str_mv https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627
10.19053/01211129.4627
dc.identifier.uri.none.fl_str_mv https://repositorio.uptc.edu.co/handle/001/14140
url https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627
https://repositorio.uptc.edu.co/handle/001/14140
identifier_str_mv 10.19053/01211129.4627
dc.language.none.fl_str_mv spa
dc.language.iso.spa.fl_str_mv spa
language spa
dc.relation.none.fl_str_mv https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627/3798
https://revistas.uptc.edu.co/index.php/ingenieria/article/view/4627/5049
dc.rights.coar.fl_str_mv http://purl.org/coar/access_right/c_abf2
dc.rights.coar.spa.fl_str_mv http://purl.org/coar/access_right/c_abf155
rights_invalid_str_mv http://purl.org/coar/access_right/c_abf155
http://purl.org/coar/access_right/c_abf2
dc.format.none.fl_str_mv application/pdf
text/html
dc.publisher.en-US.fl_str_mv Universidad Pedagógica y Tecnológica de Colombia
dc.source.en-US.fl_str_mv Revista Facultad de Ingeniería; Vol. 25 No. 42 (2016); 21-32
dc.source.es-ES.fl_str_mv Revista Facultad de Ingeniería; Vol. 25 Núm. 42 (2016); 21-32
dc.source.none.fl_str_mv 2357-5328
0121-1129
institution Universidad Pedagógica y Tecnológica de Colombia
repository.name.fl_str_mv Repositorio Institucional UPTC
repository.mail.fl_str_mv repositorio.uptc@uptc.edu.co
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