Abstract

MOSQUERA LEYTON, Víctor Hugo; VIVAS ALBAN, Oscar Andrés  and  RENGIFO RODAS, Carlos Felipe. MODELING AND SIMULATION OF A ROBOT FOR ENDOSCOPIC TRANSLUMENAL SURGERY. Rev. ing. biomed. [online]. 2011, vol.5, n.10, pp.44-50. ISSN 1909-9762.

This article presents the design of a new robot for translumenal endoscopic surgery. This type of surgery, evolved from laparoscopic surgery, allows the access into the abdominal cavity of the patient through natural orifices such as the mouth, urethra, anus or vagina, and from there reaches the area of the surgical intervention. This procedure has many advantages over laparoscopic surgery. The designed robot has nineteen degrees of freedom and is moved with a joystick device and controlled by a computer torque control. Simulation shows low cartesian errors as well as accurate movements at the end effector.

Keywords : Control of Robots; Minimally Invasive Surgery; Surgical Robotics; Translumenal Endoscopic Surgery.

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