Abstract
This paper is focused on the motion control problem for a laparoscopic surgery robot assistant. This article studies both, navigation problem and efforts applied with an actuated wrist when the endoscope interacts with the patient: gravity, friction and abdominal effort. In this way, a new control strategy has been proposed based on a previous work with a passive wrist robotic assistant. This strategy is able to emulate the behavior of a passive wrist by using two nestled control loops. Finally, the paper concludes with a comparison between both wrists, as well as future applications for actuated wrists related to minimally invasive surgery.
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Bauzano, E., Muñoz, V., Garcia-Morales, I., Estebanez, B. (2010). Control Methodologies for Endoscope Navigation in Robotized Laparoscopic Surgery. In: Gottscheber, A., Obdržálek, D., Schmidt, C. (eds) Research and Education in Robotics - EUROBOT 2009. EUROBOT 2009. Communications in Computer and Information Science, vol 82. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16370-8_2
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DOI: https://doi.org/10.1007/978-3-642-16370-8_2
Publisher Name: Springer, Berlin, Heidelberg
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