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