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Study of industrial robots as assistants in laparoscopic surgeries

2013; Universidad de Antioquia; Issue: 47 Linguagem: Inglês

10.17533/udea.redin.16687

2422-2844

Bernardo Efraín Garcés, Oscar Gabriel Mora, Óscar Andrés Vivas Albán,

Soft Robotics and Applications

This article presents a study about the use of industrial robots as assistants in laparoscopic surgeries. An analysis of laparoscopic surgical method and this procedure assisted by robots is presented. The problem of passing through the hole abdominal where surgical instruments are inserted is enligthed. This problem is solved through an optimization algorithm that yields the trajectories to be followed by elbow and wrist joint of an anthropomorphic robot. Two industrial robots (Puma of Unimation and PA10 of Mitsubishi) are studied and their respective simulated performances as potential assistants in such surgeries are discussed.