2026-06-01T16:40:29Zhttps://riuma.uma.es/rest/oai/requestoai:riuma.uma.es:10630/335842026-02-03T11:24:09Zcom_10630_2254col_10630_37953
RIUMA. Repositorio Institucional de la Universidad de Málaga
author
Bauzano-Núñez, Enrique
author
Muñoz-Martínez, Víctor Fernando
author
García-Morales, Isabel
2024-09-27T08:26:43Z
2024-09-27T08:26:43Z
2011
Bauzano E.; Muñoz V.F.; García-Morales I. A Multi-Behaviour Algorithm for Auto- Guided Movements in Surgeon Assistance. International Journal of Mechanics and Control, 2011, 12(1), 35-41. ISSN: 1590-8844
1590-8844.
http://www.jomac.it/data/uploads/freeissue/jomac11a.pdf
https://hdl.handle.net/10630/33584
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 behaviour concept computes the required velocity vector of the surgical instrument hold by the robot.
eng
Robótica
A Multi-Behaviour Algorithm for Auto- Guided Movements in Surgeon Assistance
journal article
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URL
https://riuma.uma.es/bitstreams/e1490d34-2320-4193-9cff-4ae1421f02f7/download
File
MD5
bb0ab6f39fb903805f302ac3b016f138
531789
application/pdf
11JoMaC_AutoMov_EN.pdf