RT Conference Proceedings
T1 Auto-Guided Movements on Minimally Invasive Surgery for Surgeon Assistance
A1 Bauzano-Núñez, Enrique
A1 Muñoz-Martínez, Víctor Fernando
A1 García-Morales, Isabel
K1 Robótica - Cirugía
K1 Cirugía -- Aparatos e instrumentos
AB This paper focuses on autonomous movements to aid the surgeon to perform certain tasks. Robotic assistants have solved the drawbacks of Minimally Invasive Surgery (MIS) and provide additional skills to the surgeons. However, some authors argue that these systems could lengthen the operating time. The solution is the automation of certain maneuvers that help the surgeon during a surgical maneuver. This work proposes control architecture for a surgical robot capable of performing autonomous movements. In this way, a trajectory planner based on a behavior concept computes the required velocity vector of the surgical instrument hold by the robot. This planner has been implemented and tested on the control architecture of the surgical assistant CISOBOT, designed and developed at the University of Malaga.
YR 2010
FD 2010
LK https://hdl.handle.net/10630/33649
UL https://hdl.handle.net/10630/33649
LA eng
NO Bauzano E.; Muñoz V.F.; García-Morales I. Auto-Guided Movements on Minimally Invasive Surgery for Surgeon Assistance. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2010, pp: 1843-1848. https://doi.org/10.1109/IROS.2010.5650875
NO This work was supported in part by the Spanish National projects DPI2007-62257 and the Regional one P07-TEP-02897.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 21 ene 2026