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oai:riuma.uma.es:10630/335842026-02-03T11:24:09Zcom_10630_2254col_10630_37953

Bauzano-Núñez, Enrique Muñoz-Martínez, Víctor Fernando 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 open access Robótica A Multi-Behaviour Algorithm for Auto- Guided Movements in Surgeon Assistance journal article