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

O. L. Tapias; S. A. Salinas

doi:10.1109/GMEPE-PAHCE.2016.7504619

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

O. L. Tapias, S. A. Salinas

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

Resumen

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.

Título traducido de la contribución	A toolholder robot for laparoscopy based in the Novint Falcon interface: Workspace
Idioma original	Español
Título de la publicación alojada	2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016
Editorial	Institute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)	9781509024858
DOI	https://doi.org/10.1109/GMEPE-PAHCE.2016.7504619
Estado	Publicada - 5 jul. 2016
Evento	2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016 - Madrid, Espana Duración: 4 abr. 2016 → 9 abr. 2016

Serie de la publicación

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

Conferencia

Conferencia	2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016
País/Territorio	Espana
Ciudad	Madrid
Período	4/04/16 → 9/04/16

Nota bibliográfica

Publisher Copyright:
© 2016 IEEE.

Palabras clave

Direct kinematic
inverse kinematic
laparoscopy and robotic
workspace

Acceder al documento

10.1109/GMEPE-PAHCE.2016.7504619

Citar esto

Tapias, O. L., & Salinas, S. A. (2016). Robot Portaherramienta para Laparoscopia Basado en la Interfaz Novint Falcon: Espacio De Trabajo. En 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016 Artículo 7504619 (2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/GMEPE-PAHCE.2016.7504619

Tapias, O. L. ; Salinas, S. A. / Robot Portaherramienta para Laparoscopia Basado en la Interfaz Novint Falcon : Espacio De Trabajo. 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. (2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016).

@inproceedings{5701a446ad9e4304837888d08d8fcc35,

title = "Robot Portaherramienta para Laparoscopia Basado en la Interfaz Novint Falcon: Espacio De Trabajo",

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.",

keywords = "Direct kinematic, inverse kinematic, laparoscopy and robotic, workspace",

author = "Tapias, {O. L.} and Salinas, {S. A.}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016 ; Conference date: 04-04-2016 Through 09-04-2016",

year = "2016",

month = jul,

day = "5",

doi = "10.1109/GMEPE-PAHCE.2016.7504619",

language = "Espa{\~n}ol",

series = "2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016",

}

Tapias, OL & Salinas, SA 2016, Robot Portaherramienta para Laparoscopia Basado en la Interfaz Novint Falcon: Espacio De Trabajo. En 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016., 7504619, 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016, Institute of Electrical and Electronics Engineers Inc., 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016, Madrid, Espana, 4/04/16. https://doi.org/10.1109/GMEPE-PAHCE.2016.7504619

Robot Portaherramienta para Laparoscopia Basado en la Interfaz Novint Falcon: Espacio De Trabajo. / Tapias, O. L.; Salinas, S. A.
2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016. Institute of Electrical and Electronics Engineers Inc., 2016. 7504619 (2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016).

Producción científica: Capítulo del libro/informe/acta de congreso › Ponencia publicada en las memorias del evento con ISBN › revisión exhaustiva

TY - GEN

T1 - Robot Portaherramienta para Laparoscopia Basado en la Interfaz Novint Falcon

T2 - 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016

AU - Tapias, O. L.

AU - Salinas, S. A.

PY - 2016/7/5

Y1 - 2016/7/5

N2 - 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.

AB - 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.

KW - Direct kinematic

KW - inverse kinematic

KW - laparoscopy and robotic

KW - workspace

UR - http://www.scopus.com/inward/record.url?scp=84980018984&partnerID=8YFLogxK

U2 - 10.1109/GMEPE-PAHCE.2016.7504619

DO - 10.1109/GMEPE-PAHCE.2016.7504619

M3 - Ponencia publicada en las memorias del evento con ISBN

AN - SCOPUS:84980018984

T3 - 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016

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

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 4 April 2016 through 9 April 2016

ER -

Tapias OL, Salinas SA. Robot Portaherramienta para Laparoscopia Basado en la Interfaz Novint Falcon: Espacio De Trabajo. En 2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016. Institute of Electrical and Electronics Engineers Inc. 2016. 7504619. (2016 Global Medical Engineering Physics Exchanges/Pan American Health Care Exchanges, GMEPE/PAHCE 2016). doi: 10.1109/GMEPE-PAHCE.2016.7504619

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

Resumen

Serie de la publicación

Conferencia

Nota bibliográfica

Palabras clave

Acceder al documento

Huella

Citar esto