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 contribution | A toolholder robot for laparoscopy based in the Novint Falcon interface: Workspace |
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| Original language | Spanish |
| Title of host publication | 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| ISBN (Electronic) | 9781509024858 |
| DOIs | |
| State | Published - 5 Jul 2016 |
| Event | 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016 - Madrid, Spain Duration: 4 Apr 2016 → 9 Apr 2016 |
Publication series
| Name | 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016 |
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Conference
| Conference | 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016 |
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| Country/Territory | Spain |
| City | Madrid |
| Period | 4/04/16 → 9/04/16 |
Bibliographical note
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