RT Conference Proceedings
T1 Three-Layer Control for Active Wrists in Robotized Laparoscopic Surgery.
A1 Bauzano-Núñez, Enrique
A1 Muñoz-Martínez, Víctor Fernando
A1 García-Morales, Isabel
A1 Estébanez-Campos, María Belén
K1 Laparoscopia
K1 Cirugía - Innovaciones tecnológicas
K1 Robótica
K1 Detectores
AB This paper is focused on the motion control problem for a laparoscopic surgery robot assistant with an actuated wrist. These assistants may apply non-desired efforts to the patient abdomen. Therefore, this article proposes a control methodology based on three feedback levels, which have been defined as layers. These layers control different aspects of the endoscope movement. A low level assures the dynamic of the robot assistant is performed accordingly. The mid level emulates a passive wrist behavior to avoid any efforts over the abdomen. An external high level deals with the global movement planning. This architecture also makes easier to analyze the stability of the whole system. Finally, a real in-vitro experiment has been implemented with an industrial robot in order to contrast the validity of this article procedure.
PB IEEE/RSJ International Conference on Intelligent Robots and Systems
YR 2009
FD 2009-12-15
LK https://hdl.handle.net/10630/33574
UL https://hdl.handle.net/10630/33574
LA eng
NO Bauzano-Nuñez E; Muñoz-Martinez V.F.; García-Morales I., Estebanez-Campos B. Three-Layer Control for Active Wrists in Robotized Laparoscopic Surgery. Proceedings of the IEEE International Conference on Intelligent Robots and Systems (IROS) 2009, pp. 2653-2658. https://doi.org/10.1109/IROS.2009.5354614
NO This work was supported in part by the Spanish National projects DPI2007-62257 and the Regional one P07-TEP-02897Versión posprint
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026