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

  1. Martín A. Landeira Freire 1
  2. Emilio Sánchez 1
  3. Sonia Tejada 1
  4. Ricardo Díez 1
  1. 1 Universidad de Navarra
    info

    Universidad de Navarra

    Pamplona, España

    ROR https://ror.org/02rxc7m23

Revista:
Revista iberoamericana de automática e informática industrial ( RIAI )

ISSN: 1697-7920

Año de publicación: 2015

Volumen: 12

Número: 1

Páginas: 80-91

Tipo: Artículo

DOI: 10.1016/J.RIAI.2014.05.007 DIALNET GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: Revista iberoamericana de automática e informática industrial ( RIAI )

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.

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Fuente de los datos: Dialnet