| Autor: |
Bauzano, Enrique, Muñoz, Victor, Garcia-Morales, Isabel, Estebanez, Belen |
| Zdroj: |
Research & Education in Robotics - Eurobot 2009; 2010, p11-22, 12p |
| Abstrakt: |
This paper is focused on the motion control problem for a laparoscopic surgery robot assistant. This article studies both, navigation problem and efforts applied with an actuated wrist when the endoscope interacts with the patient: gravity, friction and abdominal effort. In this way, a new control strategy has been proposed based on a previous work with a passive wrist robotic assistant. This strategy is able to emulate the behavior of a passive wrist by using two nestled control loops. Finally, the paper concludes with a comparison between both wrists, as well as future applications for actuated wrists related to minimally invasive surgery. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
|
