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

Any de publicació: 2015

Volum: 12

Número: 1

Pàgines: 80-91

Tipus: Article

DOI: 10.1016/J.RIAI.2014.05.007 DIALNET GOOGLE SCHOLAR lock_openAccés obert editor

Altres publicacions en: Revista iberoamericana de automática e informática industrial ( RIAI )

Resum

In this research work, a new prototype of collaborative robot- assisted surgical platform for transpedicular fixation surgeries is presented. The usage of assistive robotic systems during conventional surgical procedures improves surgical outcomes, as they ensure high levels of precision and safety. Hence, robustness and dexterity of the mechatronic devices must be guaranteed, even in the neighborhood of unstable configurations during their performance. Bearing this in mind, a singularity management strategy has been implemented in the robotic platform, based on the Damped Least Squares method using an adaptive damping factor together with a methodology for optimization of joint redundancy of the platform manipulator, Mitsubishi PA10-7C.

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Fuente de los datos: Dialnet