Abstract

FERNANDEZ-RIOMALO, Carlos Eduardo; GUASTAR-MORILLO, Héctor Andrés  and  VIVAS-ALBAN, Oscar Andrés. Design and modeling of a virtual PA-10 robot for surgical applications. Rev. Fac. ing. [online]. 2016, vol.25, n.42, pp.21-32. ISSN 0121-1129.

This paper shows the implementation of a PA-10 Mitsubishi robot on a surgical virtual simulator for laparoscopic surgeries by using surgical assistant robots. For the proposed simulator three robots are necessary: An endoscopeholder robot (in this case the Hibou robot), and two surgical robots (in this case a Lapbot robot and the designed PA-10 robot). The three robots are manipulated by a joystick device on a gallbladder ablation exercise (cholecystectomy). Deformation algorithms are included to provide greater realism, when the end-effector of the robot collides with the PA-10 virtual robot, abdominal organ. Results provide the base of a surgical virtual simulator using three assistant robots on a common laparoscopic surgical exercise, that can be used for training new surgeons.

Keywords : maparoscopic; modeling robot; surgical robotics; surgical simulator; virtual robot.

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