Resumo

HURTADO-CHAVES, Juan Diego; NASTAR-GUACALES, Alex Aldemar  e  VIVAS-ALBAN, Oscar Andrés. Gesture KINECT capture system for virtual surgical robots manipulation. Iteckne [online]. 2015, vol.12, n.1, pp.17-24. ISSN 1692-1798.

This article presents a gesture capture system for manipulating two virtual surgical robots. Gesture capture uses Kinect device to detect the movement of the user's hand to move the surgical robots, and his right knee to change the needed surgical tools. This natural interface capture system is proved on a surgical simulator for laparoscopic, that has a holder endoscopic robot manipulated by a joystick, and two surgical robots that are guided by the Kinect device. Kinematics model is used to transform Kinect captured signals to articular movements for the robots. System is tested on a robotic cholecystectomy, allowing a more natural manipulation to the user.

Palavras-chave : Kinect device; natural interfaces; surgical robots; surgical simulator.

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