Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery

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RECERCAT Home > Universitat Politècnica de Catalunya > Documents de recerca > View document

To access the full text documents, please follow this link: http://hdl.handle.net/2117/24036

dc.contributor	Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor	Institut de Bioenginyeria de Catalunya
dc.contributor	Universitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.contributor.author	Hernansanz Prats, Alberto
dc.contributor.author	Amat Girbau, Josep
dc.contributor.author	Casals Gelpi, Alicia
dc.date	2012
dc.identifier.citation	Hernansanz, A.; Amat, J.; Casals, A. Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery. A: IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics. "2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)". Roma: Institute of Electrical and Electronics Engineers (IEEE), 2012, p. 749-754.
dc.identifier.citation	978-1-4577-1199-2
dc.identifier.citation	10.1109/BioRob.2012.6290803
dc.identifier.uri	http://hdl.handle.net/2117/24036
dc.language.iso	eng
dc.publisher	Institute of Electrical and Electronics Engineers (IEEE)
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robotics in medicine
dc.subject	Cameras
dc.subject	Collision avoidance
dc.subject	Indexes
dc.subject	Joints
dc.subject	Robots
dc.subject	Surgery
dc.subject	Trajectory
dc.subject	Telerobotics
dc.subject	Robòtica en medicina
dc.title	Virtual Robot: a new teleoperation paradigm for minimally invasive robotic surgery
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	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.

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