Arquitectura funcional para una sutura robótica automatizada en cirugía laparoscópica
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http://hdl.handle.net/2183/33547
Excepto si se señala otra cosa, la licencia del ítem se describe como Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/
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Arquitectura funcional para una sutura robótica automatizada en cirugía laparoscópicaTítulo(s) alternativo(s)
Functional architecture for automated robotic suturing in laparoscopic surgeryAutor(es)
Fecha
2023Cita bibliográfica
Galán-Cuenca, A., Herrera-López, J.M. Fernández-Naranjo, M., García-Morales, I., Burrieza, A., Muñoz, V.F. 2023. Arquitectura funcional para una sutura robótica automatizada en cirugía laparoscópica. XLIV Jornadas de Automática, 35-40. https://doi.org/10.17979/spudc.9788497498609.035
Resumen
[Abstract] Laparoscopic surgery is a minimally invasive surgery that makes small incisions in the patient’s tissue during the procedure. One of the most challenging tasks within this field is suturing performed with robots. This article presents an automated robotic suturing strategy designed to coordinate the collaboration between the surgeon and the robotic arms. The approach uses a robotic platform consisting of three manipulator arms and two haptic devices. For the automation of the task the article explains the use of an ontology-based inference engine and workflow recognition to be aware of where the system is in the process and to infer what actions should be done; and the use of control techniques to position the instruments inside the patient without exerting damage to the abdomen.
Palabras clave
Ontología
Flujo de trabajo
Cirugía laparoscopia
Sutura robotizada
Control
Cualitativo
Cuantitativo
Ontology
Workflow
Laparoscopic surgery
Robotic suturing
Control
Qualitative
Quantitative
Flujo de trabajo
Cirugía laparoscopia
Sutura robotizada
Control
Cualitativo
Cuantitativo
Ontology
Workflow
Laparoscopic surgery
Robotic suturing
Control
Qualitative
Quantitative
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Derechos
Attribution-NonCommercial-ShareAlike 4.0 International (CC BY-NC-SA 4.0) https://creativecommons.org/licenses/by-nc-sa/4.0/
ISBN
978‐84‐9749‐860‐9