Desarrollo e implementación de una estrategia de gestión de singularidades para un sistema robótico redundante cooperativo destinado a la asistencia en intervenciones quirúrgicas

Martín A. Landeira Freire, Emilio Sánchez, Sonia Tejada, Ricardo Díez

Resumen

En este trabajo se presenta un nuevo prototipo de plataforma robótica cooperativa, destinada a la asistencia en intervenciones quirúrgicas de fijación transpedicular lumbar. El uso de sistemas robóticos de asistencia durante la ejecución de procedimientos quirúrgicos convencionales contribuye a la mejora en los resultados de las intervenciones al permitir elevados niveles de precisión y seguridad. Por ello, resulta crucial garantizar la robustez y destreza de los dispositivos empleados, incluso en las proximidades de configuraciones que pudieran introducir inestabilidades en su funcionamiento. Partiendo de esta idea, se ha implementado una estrategia de gestión de singularidades en la plataforma robótica, basada en el uso de un algoritmo de mínimos cuadrados amortiguados con factor de amortiguamiento adaptativo, unido a un método para la optimización de la configuración articular del manipulador redundante empleado, Mitsubishi PA10–7C.

Palabras clave

Singularities; Inverse kinematics problem; Redundant manipulator; Co-operative control; Biomedical system

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Referencias

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