RT Journal Article
T1 Collaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trials
A1 Muñoz, Víctor F.
A1 García-Morales, Isabel
A1 Fraile-Marinero, Juan Carlos
A1 Perez-Turiel, Javier
A1 Muñoz_García, Alvaro
A1 Bauzano, Enrique
A1 Rivas-Blanco, Irene
A1 Sabater-Navarro, Jose María
A1 Fuente, Eusebio de la
K1 Cirugía - Aparatos e instrumentos
K1 Robótica
AB 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.
PB MDPI
YR 2021
FD 2021
LK https://hdl.handle.net/10630/32773
UL https://hdl.handle.net/10630/32773
LA eng
NO Muñoz, V.F.; Garcia-Morales, I.; Fraile-Marinero, J.C.; Perez-Turiel, J.; Muñoz-Garcia, A.; Bauzano, E.; Rivas-Blanco, I.; Sabater-Navarro, J.M.; Fuente, E.d.l. Collaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trials. Sensors 2021, 21, 2320. https://doi.org/ 10.3390/s21072320
NO DPI2016-80391-R
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 10 feb 2026