• español
  • English
  • français
  • Deutsch
  • português (Brasil)
  • italiano
    • español
    • English
    • français
    • Deutsch
    • português (Brasil)
    • italiano
    • español
    • English
    • français
    • Deutsch
    • português (Brasil)
    • italiano
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Listar

    Todo UVaDOCComunidadesPor fecha de publicaciónAutoresMateriasTítulos

    Mi cuenta

    Acceder

    Estadísticas

    Ver Estadísticas de uso

    Compartir

    Ver ítem 
    •   UVaDOC Principal
    • PRODUCCIÓN CIENTÍFICA
    • Institutos de Investigación
    • Instituto de las Tecnologías Avanzadas en la Producción (ITAP)
    • ITAP - Artículos de revista
    • Ver ítem
    •   UVaDOC Principal
    • PRODUCCIÓN CIENTÍFICA
    • Institutos de Investigación
    • Instituto de las Tecnologías Avanzadas en la Producción (ITAP)
    • ITAP - Artículos de revista
    • Ver ítem
    • español
    • English
    • français
    • Deutsch
    • português (Brasil)
    • italiano

    Exportar

    RISMendeleyRefworksZotero
    • edm
    • marc
    • xoai
    • qdc
    • ore
    • ese
    • dim
    • uketd_dc
    • oai_dc
    • etdms
    • rdf
    • mods
    • mets
    • didl
    • premis

    Citas

    Por favor, use este identificador para citar o enlazar este ítem:https://uvadoc.uva.es/handle/10324/73265

    Título
    Force-based control strategy for a collaborative robotic camera holder in laparoscopic surgery using pivoting motion
    Autor
    Fontúrbel, Carlos
    Cisnal De La Rica, AnaAutoridad UVA Orcid
    Fraile Marinero, Juan CarlosAutoridad UVA Orcid
    Pérez Turiel, JavierAutoridad UVA Orcid
    Año del Documento
    2023
    Editorial
    Frontiers
    Documento Fuente
    Frontiers in Robotics and AI, April, 2023, vol. 10, p. 1-14
    Resumen
    Introduction: Laparoscopic surgery often relies on a fixed Remote Center of Motion (RCM) for robot mobility control, which assumes that the patient’s abdominal walls are immobile. However, this assumption is inaccurate, especially in collaborative surgical environments. In this paper, we present a force-based strategy for the mobility of a robotic camera-holder system for laparoscopic surgery based on a pivoting motion. This strategy reconceptualizes the conventional mobility control paradigm of surgical robotics. Methods: The proposed strategy involves direct control of the Tool Center Point’s (TCP) position and orientation without any constraints associated with the spatial position of the incision. It is based on pivoting motions to minimize contact forces between the abdominal walls and the laparoscope. The control directly relates the measured force and angular velocity of the laparoscope, resulting in the reallocation of the trocar, whose position becomes a consequence of the natural accommodation allowed by this pivoting. Results: The effectiveness and safety of the proposed control were evaluated through a series of experiments. The experiments showed that the control was able to minimize an external force of 9 N to ±0.2 N in 0.7 s and reduce it to 2 N in just 0.3 s. Furthermore, the camera was able to track a region of interest by displacing the TCP as desired, leveraging the strategy’s property that dynamically constrains its orientation. Discussion: The proposed control strategy has proven to be effective minimizing the risk caused by sudden high forces resulting from accidents and maintaining the field of view despite any movements in the surgical environment, such as physiological movements of the patient or undesired movements of other surgical instruments. This control strategy can be implemented for laparoscopic robots without mechanical RCMs, as well as commercial collaborative robots, thereby improving the safety of surgical interventions in collaborative environments.
    Palabras Clave
    robotic surgery
    laparoscopy
    force control
    collaborative robotics
    admittance control
    Revisión por pares
    SI
    DOI
    10.3389/frobt.2023.1145265
    Patrocinador
    Ministerio de Ciencia e Innovación e Innovación a través del proyecto de investigación PID2019-111023RBC33 y la Consejería de Educación para la predoctoral de personal investigador cofinanciado por el Fondo Social Europeo (FSE)
    Version del Editor
    https://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2023.1145265/full
    Idioma
    spa
    URI
    https://uvadoc.uva.es/handle/10324/73265
    Tipo de versión
    info:eu-repo/semantics/publishedVersion
    Derechos
    openAccess
    Aparece en las colecciones
    • ITAP - Artículos de revista [53]
    Mostrar el registro completo del ítem
    Ficheros en el ítem
    Nombre:
    frobt-10-1145265.pdf
    Tamaño:
    3.314Mb
    Formato:
    Adobe PDF
    Descripción:
    Artículo
    Thumbnail
    Visualizar/Abrir
    Attribution-NonCommercial-NoDerivatives 4.0 InternacionalLa licencia del ítem se describe como Attribution-NonCommercial-NoDerivatives 4.0 Internacional

    Universidad de Valladolid

    Powered by MIT's. DSpace software, Version 5.10