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首页> 外文会议>Mechatronics, 2009. ICM 2009 >Active wrists endoscope navigation in robotized laparoscopic surgery
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Active wrists endoscope navigation in robotized laparoscopic surgery

机译：主动腹腔镜手术中腕式内窥镜导航

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摘要

This paper is focused on the motion control problem for a laparoscopic surgery robot assistant with an actuated wrist. These assistants may apply non-desired efforts through the patient abdomen. Therefore, this article studies these efforts, which have been measured by a force sensor located between the wrist and the endoscope, and how to remove gravity and friction actions in order to obtain the abdominal efforts. The measure of these efforts indicates if the movements are done accordingly to the fulcrum point. To achieve this goal, a new control strategy, based on the emulation of passive wrists behavior, is proposed. Such methodology allows the assistant to minimize efforts over the patient. Finally, this work presents the advantages of actuated wrists for possible future applications.
机译：本文着重于带手腕的腹腔镜手术机器人助手的运动控制问题。这些助手可能会通过患者腹部施加不必要的努力。因此，本文研究了这些努力，这些努力已通过位于腕部和内窥镜之间的力传感器进行了测量，以及如何去除重力和摩擦作用以获得腹部的努力。这些努力的程度表明了是否根据支点进行了相应的移动。为了达到这个目的，提出了一种基于被动手腕行为仿真的新控制策略。这样的方法允许助手最小化对患者的努力。最后，这项工作为将来可能的应用展示了手腕的优势。

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