JavaScript is disabled for your browser. Some features of this site may not work without it.

    Listar

    Todo RIUMAComunidades & ColeccionesPor fecha de publicaciónAutoresTítulosMateriasTipo de publicaciónCentrosEsta colecciónPor fecha de publicaciónAutoresTítulosMateriasTipo de publicaciónCentros

    Mi cuenta

    AccederRegistro

    Estadísticas

    Ver Estadísticas de uso

    DE INTERÉS

    Datos de investigaciónReglamento de ciencia abierta de la UMAPolítica de RIUMAPolitica de datos de investigación en RIUMASHERPA/RoMEODulcinea
    Preguntas frecuentesManual de usoDerechos de autorContacto/Sugerencias
    Ver ítem 
    •   RIUMA Principal
    • Investigación
    • Ingeniería de Sistemas y Automática - (ISA)
    • ISA - Tesis
    • Ver ítem
    •   RIUMA Principal
    • Investigación
    • Ingeniería de Sistemas y Automática - (ISA)
    • ISA - Tesis
    • Ver ítem

    Smart Camera Robotic Assistant for Laparoscopic Surgery

    • Autor
      Rivas Blanco, Irene
    • Director/es
      Muñoz-Martínez, Víctor FernandoAutoridad Universidad de Málaga; Tortora, Giuseppe
    • Fecha
      2017-06-23
    • Editorial/Editor
      UMA Editorial
    • Departamento
      Ingeniería de Sistemas y Automática
    • Palabras clave
      Robótica médica - Tesis doctorales
    • Resumen
      In the last decades, laparoscopic surgery has become a daily practice in operating rooms worldwide, which evolution is tending towards less invasive techniques. In this scenario, robotics has found a wide field of application, from slave robotic systems that replicate the movements of the surgeon to autonomous robots able to assist the surgeon in certain maneuvers or to perform autonomous surgical tasks. However, these systems require the direct supervision of the surgeon, and its capacity of making decisions and adapting to dynamic environments is very limited. This PhD dissertation presents the design and implementation of a smart camera robotic assistant to collaborate with the surgeon in a real surgical environment. First, it presents the design of a novel camera robotic assistant able to augment the capacities of current vision systems. This robotic assistant is based on an intra-abdominal camera robot, which is completely inserted into the patient’s abdomen and it can be freely moved along the abdominal cavity by means of magnetic interaction with an external magnet. To provide the camera with the autonomy of motion, the external magnet is coupled to the end effector of a robotic arm, which controls the shift of the camera robot along the abdominal wall. This way, the robotic assistant proposed in this dissertation has six degrees of freedom, which allow providing a wider field of view compared to the traditional vision systems, and also to have different perspectives of the operating area. On the other hand, the intelligence of the system is based on a cognitive architecture specially designed for autonomous collaboration with the surgeon in real surgical environments. The proposed architecture simulates the behavior of a human assistant, with a natural and intuitive human-robot interface for the communication between the robot and the surgeon.
    • URI
      https://hdl.handle.net/10630/16250
    • Compartir
      RefworksMendeley
    Mostrar el registro completo del ítem
    Ficheros
    TD_RIVAS_BLANCO_Irene.pdf (7.984Mb)
    Colecciones
    • ISA - Tesis

    Estadísticas

    Ver Estadísticas de uso
    Buscar en Dimension
    REPOSITORIO INSTITUCIONAL UNIVERSIDAD DE MÁLAGA
    REPOSITORIO INSTITUCIONAL UNIVERSIDAD DE MÁLAGA
     

     

    REPOSITORIO INSTITUCIONAL UNIVERSIDAD DE MÁLAGA
    REPOSITORIO INSTITUCIONAL UNIVERSIDAD DE MÁLAGA