Study of industrial robots as assistants in laparoscopic surgeries

Authors

  • Bernardo Efraín Garcés Universidad del Cauca
  • Oscar Gabriel Mora Universidad del Cauca
  • Oscar Andrés Vivas Universidad del Cauca

Keywords:

medical robots, surgical robots, laparoscopic surgeries

Abstract


This article presents a study about the use of industrial robots as assistants in laparoscopic surgeries. An analysis of laparoscopic surgical method and this procedure assisted by robots is presented. The problem of passing through the hole abdominal where surgical instruments are inserted is enligthed. This problem is solved through an optimization algorithm that yields the trajectories to be followed by elbow and wrist joint of an anthropomorphic robot. Two industrial robots (Puma of Unimation and PA10 of Mitsubishi) are studied and their respective simulated performances as potential assistants in such surgeries are discussed.

|Abstract
= 77 veces | PDF (ESPAÑOL (ESPAÑA))
= 24 veces|

Downloads

Download data is not yet available.

Author Biographies

Bernardo Efraín Garcés, Universidad del Cauca

Grupo de Automática Industrial

Oscar Gabriel Mora, Universidad del Cauca

Grupo de Automática Industrial

Oscar Andrés Vivas, Universidad del Cauca

Grupo de Automática Industrial

References

P. Mouret. “How I developed laparoscopic cholecystectomy”. Annals of the Academy of Medicine Singapore. Vol. 25. 1996. pp. 744-747. }

A.T. Spaw, E.J. Reddick, D.O. Olsen. “Laparsocopic laser cholecystectomy: analysis of 500 precedures”. Surgical Laparoscopy & Endoscopy. Vol. 1. 1991. pp. 2-7.

G.S. Lytinski. “Endoscopic surgery: The history, the Pioneers”. World Journal of Surgery. Vol. 23. 1999. pp. 745-753.

D.B. Jones. Laparoscopic Surgery: Principles and Procedures. Ed. Marcel Dekker. New York. 2004. pp. 1-6.

M. Jacobs, M. Gagner. J. Cueto-García. Laparoscopic Surgery. Ed. McGraw Hill. New York. 2003. pp. 35-40.

M. D. Diodato, R. J. Damiano. “Robotic cardiac surgery: Overview”. Surgical Clinics of North America. Vol. 82. 2003. pp. 1351-1367.

M. R. Satava. “Emerging technologies for surgery in the 21st century”. Archieves of Surgery. Vol. 134. 1999. pp. 1197-1202.

G. H. Ballantyne, F. Molle. “The Da Vinci telerobotic surgical system: the virtual operative field and telepresence surgery”. Surgical Clinics of North America. Vol. 83. 2003. pp. 1293-1304.

J. Marescaux, F. Rubino. “The Zeus robotic system: experimental and clinical applications”. Surgical Clinics of North America. Vol. 83. 2003. pp. 1305- 1315.

G. S. Guthard, K. Salisbury. “The intuitive telesurgery system: overview and application”. Proceedings of the IEEE International Conference on Robotics and Automation. Detroit, USA. 1999. pp. 618-621.

S. Krut. “Introduction to medical robotics”. Memorias IV Seminario de Automática. Popayán, Colombia. 2006.

Frequently Asked Questions. Intuitive Surgical. www. intuitivesurgical.com. Consultada el 10 de diciembre de 2007.

Y. S. Kwoh, J. Hou, E. A. Jonckheere, S. Hayall. “A robot with improve absolute positioning accuracy for CT guide stereoscopic brain surgery”. IEEE Transactions on Biomedical Engineering. Vol. 35. 1988. pp. 153-161.

J. L. Mosso, A. Minor, V. Lara, E. Maya. “Brazo robótico para sujetar y posicionar laparoscopios. Primer diseño y construcción en México”. Revista Cirujano General. Vol. 69. 2001. pp. 295-299.

M. Michelin. Contribution à la commande de robots pour la chirurgie mini-invasive. PhD Thesis. Université de Montpellier II. France. 2004.

K. Levenberg. “A method for the solution of certain problems in least squares”. Quarterly of Applied Mathematics. Vol. 2. 1994. pp. 164-168.

W. Khalil, E. Dombre. Modeling, Identification and Control of robots. Ed. Hermes Penton Science. Londres. 2002. pp. 35-43.

B. Garcés, O. Mora. Estudio del desempeño de un robot Puma en operaciones de laparoscopia. Tesis de pregrado. Universidad del Cauca. Popayán. Colombia. 2008.

Mitsubishi Heavy Industries. http://www.sdia.or.jp/mhikobe/products/mechatronic. Consultada el 30 de septiembre de 2007.

Published

2013-09-18

How to Cite

Garcés, B. E., Mora, O. G., & Vivas, O. A. (2013). Study of industrial robots as assistants in laparoscopic surgeries. Revista Facultad De Ingeniería Universidad De Antioquia, (47), 91–102. Retrieved from https://revistas.udea.edu.co/index.php/ingenieria/article/view/16687