Entorno de trabajo cíber-físico para cirugía laparoscópica
DOI:
https://doi.org/10.4995/riai.2023.18753Palabras clave:
Cirugía laparoscópica, Simulador quirúrgico, Sistema cíber-físico, Robot manipulador redundante, Modelo Cinemático Inverso, Adquisición de vídeoResumen
Este trabajo desarrolla la implantación de un entorno de trabajo cíber-físico para cirugía laparoscópica que permite utilizar un simulador quirúrgico con un brazo robótico, para así facilitar el aprendizaje y la investigación con este tipo de sistemas. Se propone y valida una configuración para cada uno de los elementos del quirófano que permite cumplir todas las restricciones funcionales. También se implanta un Modelo Cinemático Inverso para el brazo robótico redundante que devuelve la solución más adecuada que asegura el cumplimiento de estas restricciones. El entorno de trabajo se ha implementado haciendo uso de ROS y MATLAB, realizando una serie de pruebas a fin de validar el desarrollo de aplicaciones utilizando este framework.
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Derechos de autor 2023 Juan María Herrera López, Álvaro Galán Cuenca, Isabel García Morales, Marcos Rollón Rivas, Irene Rivas Blanco, Víctor Fernando Muñoz Martínez
Esta obra está bajo una licencia internacional Creative Commons Atribución-NoComercial-CompartirIgual 4.0.
Esta revista se publica bajo una Licencia Creative Commons Attribution-NonCommercial-CompartirIgual 4.0 International (CC BY-NC-SA 4.0)
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Universidad de Málaga
Números de la subvención PY20-00738
