Robot Portaherramienta para Laparoscopia Basado en la Interfaz Novint Falcon: Espacio De Trabajo

Translated title of the contribution: A toolholder robot for laparoscopy based in the Novint Falcon interface: Workspace

O. L. Tapias, S. A. Salinas

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    Abstract

    A toolholder robot is proposed for laparoscopy using a Novint Falcon haptic interface, adapted to a laparoscopic forceps through a system of passive joints; this article describes the direct and inverse kinematics for both the interface as well as for the passive joints that form the robot model. The simulation allows to observe that the system maintains a pivotal movement in a Cartesian point of incision, and it is verified that the workspace of the robot will allow conducting training exercises in a simulated abdomen.

    Translated title of the contributionA toolholder robot for laparoscopy based in the Novint Falcon interface: Workspace
    Original languageSpanish
    Title of host publication2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016
    PublisherInstitute of Electrical and Electronics Engineers Inc.
    ISBN (Electronic)9781509024858
    DOIs
    StatePublished - 5 Jul 2016
    Event2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016 - Madrid, Spain
    Duration: 4 Apr 20169 Apr 2016

    Publication series

    Name2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016

    Conference

    Conference2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016
    Country/TerritorySpain
    CityMadrid
    Period4/04/169/04/16

    Bibliographical note

    Publisher Copyright:
    © 2016 IEEE.

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