Modelado y simulación de un robot para cirugía endoscópica transluminal
Mosquera-Leyton, V. H. (Víctor Hugo) | 2014-04-30
This article presents the design of a new robot for translumenal endoscopic surgery. This type of surgery, evolved
from laparoscopic surgery, allows the access into the abdominal cavity of the patient through natural oriﬁ ces such as the mouth,
urethra, anus or vagina, and from there reaches the area of the surgical intervention. This procedure has many advantages over
laparoscopic surgery. The designed robot has nineteen degrees of freedom and is moved with a joystick device and controlled by a
computer torque control. Simulation shows low cartesian errors as well as accurate movements at the end effector.