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Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery
Hernansanz Prats, Alberto; Amat Girbau, Josep; Casals Gelpi, Alicia
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. GRINS - Robòtica Intel·ligent i Sistemes
This paper presents a novel teleoperation paradigm, the Virtual Robot (VR), focused on facilitating the surgeon tasks in minimally invasive robotic surgery. The VR has been conceived to increase the range of applicability of traditional master slave teleoperation architectures by means of an automatic cooperative behavior that assigns the execution of the ongoing task to the most suitable robot. From the user's point of view, the VR internal operation must be automatic and transparent. A set of evaluation indexes have been developed to obtain the suitability of each robot as well as an algorithm to determine the optimal instant of time to execute a task transfer. Several experiments demonstrate the usefulness of the VR, as well as indicates the next steps of the research.
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robotics in medicine
Cameras
Collision avoidance
Indexes
Joints
Robots
Surgery
Trajectory
Telerobotics
Robòtica en medicina
info:eu-repo/semantics/publishedVersion
info:eu-repo/semantics/conferenceObject
Institute of Electrical and Electronics Engineers (IEEE)
         

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