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dc.contributor.authorMuñoz, Víctor F.
dc.contributor.authorGarcía-Morales, Isabel 
dc.contributor.authorFraile-Marinero, Juan Carlos
dc.contributor.authorPerez-Turiel, Javier
dc.contributor.authorMuñoz_García, Alvaro
dc.contributor.authorBauzano, Enrique
dc.contributor.authorRivas-Blanco, Irene 
dc.contributor.authorSabater-Navarro, Jose María
dc.contributor.authorFuente, Eusebio de la
dc.date.accessioned2024-09-20T12:11:59Z
dc.date.available2024-09-20T12:11:59Z
dc.date.created2021
dc.date.issued2021
dc.identifier.citationMuñoz, 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/s21072320es_ES
dc.identifier.urihttps://hdl.handle.net/10630/32773
dc.description.abstractEndonasal 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.es_ES
dc.description.sponsorshipDPI2016-80391-Res_ES
dc.language.isoenges_ES
dc.publisherMDPIes_ES
dc.subjectCirugía - Aparatos e instrumentoses_ES
dc.subjectRobóticaes_ES
dc.subject.otherForce feedbackes_ES
dc.subject.otherHaptic teleoperationes_ES
dc.subject.otherEndonasal surgeryes_ES
dc.subject.otherSurgical instrument navigationes_ES
dc.titleCollaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trialses_ES
dc.typejournal articlees_ES
dc.centroEscuela de Ingenierías Industrialeses_ES
dc.identifier.doihttps://doi.org/10.3390/s21072320
dc.type.hasVersionVoRes_ES
dc.departamentoIngeniería de Sistemas y Automática
dc.rights.accessRightsopen accesses_ES


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