2026-06-01T13:33:24Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/327732026-02-03T11:34:11Zcom_10630_2254col_10630_37953
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Muñoz, Víctor F.
author
García-Morales, Isabel
author
Fraile-Marinero, Juan Carlos
author
Perez-Turiel, Javier
author
Muñoz_García, Alvaro
author
Bauzano, Enrique
author
Rivas-Blanco, Irene
author
Sabater-Navarro, Jose María
author
Fuente, Eusebio de la
2024-09-20T12:11:59Z
2024-09-20T12:11:59Z
2021
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
https://hdl.handle.net/10630/32773
https://doi.org/10.3390/s21072320
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.
eng
Cirugía - Aparatos e instrumentos
Robótica
Collaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trials
journal article
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URL
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File
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8ead99e007934747ccf13e0d1927d9d6
2014460
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publicacion sensors 2021.pdf