Collaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trials
Por:
Munoz, V, Garcia-Morales, I, Fraile-Marinero, J, Perez-Turiel, J, Munoz-Garcia, A, Bauzano, E, Rivas-Blanco, I, Sabater-Navarro, J and de la Fuente, E
Publicada:
1 abr 2021
Resumen:
Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas). In this type of procedure, the surgeon has to complete the surgical maneuvers for sarcoma resection with extreme precision, as there are many vital structures in this area. Therefore, the use of robots for this type of intervention could increase the success of the intervention by providing accurate movements. Research has focused on the development of teleoperated robots to handle a surgical instrument, including the use of virtual fixtures to delimit the working area. This paper aims to go a step further with a platform that includes a teleoperated robot and an autonomous robot dedicated to secondary tasks. In this way, the aim is to reduce the surgeon's workload so that he can concentrate on his main task. Thus, the article focuses on the description and implementation of a navigator that coordinates both robots via a force/position control. Finally, both the navigation and control scheme were validated by in-vitro tests.
Filiaciones:
Munoz, V:
Univ Malaga, Dept Ingn Sistemas & Automat, Malaga 29071, Spain
Garcia-Morales, I:
Univ Malaga, Dept Ingn Sistemas & Automat, Malaga 29071, Spain
Fraile-Marinero, J:
Univ Valladolid, Inst Tecnol Avanzadas Prod, Valladolid 47002, Spain
Perez-Turiel, J:
Univ Valladolid, Inst Tecnol Avanzadas Prod, Valladolid 47002, Spain
Munoz-Garcia, A:
Univ Valladolid, Inst Tecnol Avanzadas Prod, Valladolid 47002, Spain
Bauzano, E:
Univ Malaga, Dept Ingn Sistemas & Automat, Malaga 29071, Spain
Rivas-Blanco, I:
Univ Malaga, Dept Ingn Sistemas & Automat, Malaga 29071, Spain
:
Univ Miguel Hernandez, Dept Ingn Sistemas & Automat, Elche 03202, Spain
de la Fuente, E:
Univ Valladolid, Inst Tecnol Avanzadas Prod, Valladolid 47002, Spain
gold, Green Published
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