RT Journal Article
T1 Collaborative Human- Robot System for HALS Suture Procedures
A1 Bauzano-Núñez, Enrique
A1 Estébanez-Campos, María Belén
A1 García-Morales, Isabel
A1 Muñoz-Martínez, Víctor Fernando
K1 Laparoscopia
AB Over the last years, minimally invasive surgery (MIS) has continuously improved due to new techniques and technologies.One of these novel techniques is hand-assisted laparoscopic surgery (HALS), where the surgeon inserts one hand through asmall incision inside the abdominal cavity of the patient. As this kind of intervention only allows the use of one laparoscopic tool,the surgeon requires a deep collaboration with the assistant in order to coordinate their movements for performing a surgicalmaneuver. In this way, the replacement of a human assistant with a robot system specifically designed for HALS must include anatural human–machine interface and the capability for taking autonomous decisions. These features need the implementationof a model of the surgical protocol, a system capable of recognizing the corresponding surgical gestures made by the surgeon,and an autonomous task system that assists the surgeon without his direct intervention. This paper is focused on the design ofa collaborative surgical robot that implements all the features previously described. This robot assistant has been validated bymeans of in vitro laparoscopic sutures on a HALS scenario with CISOBOT, a two-arm robotic platform designed and developed atthe University of Malaga.
PB IEEE
YR 2016
FD 2016
LK https://hdl.handle.net/10630/33776
UL https://hdl.handle.net/10630/33776
LA eng
NO Bauzano E.; Estebanez B.; García-Morales I.; Muñoz V.F. Collaborative Human- Robot System for HALS Suture Procedures. IEEE Systems Journal 2016, 10(3): 957-966. https://doi.org/10.1109/JSYST.2014.2299559.
NO This work was supported in part by the Spanish National Project under Action DPI2010-21126-C03-01.For the purpose of open access, the author(s) has applied a Creative Commons Attribution (CC BY) license to any Accepted Manuscript version arising.
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 22 ene 2026