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Desarrollo e implementación de una estrategia de gestión de singularidades para un sistema robótico redundante cooperativo destinado a la asistencia en intervenciones quirúrgicas

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Desarrollo e implementación de una estrategia de gestión de singularidades para un sistema robótico redundante cooperativo destinado a la asistencia en intervenciones quirúrgicas

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Landeira Freire, MA.; Sánchez, E.; Tejada, S.; Díez, R. (2015). Desarrollo e implementación de una estrategia de gestión de singularidades para un sistema robótico redundante cooperativo destinado a la asistencia en intervenciones quirúrgicas. Revista Iberoamericana de Automática e Informática industrial. 12(1):80-91. https://doi.org/10.1016/j.riai.2014.05.007

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Título: Desarrollo e implementación de una estrategia de gestión de singularidades para un sistema robótico redundante cooperativo destinado a la asistencia en intervenciones quirúrgicas
Otro titulo: Development and implementation of a singularity management strategy for a cooperative redundant robotic system destined to assistance during surgical interventions.
Autor: Landeira Freire, Martín A. Sánchez, Emilio Tejada, Sonia Díez, Ricardo
Fecha difusión:
Resumen:
[ES] En este trabajo se presenta un nuevo prototipo de plataforma robótica cooperativa, destinada a la asistencia en intervenciones quirúrgicas de fijación transpedicular lumbar. El uso de sistemas robóticos de asistencia ...[+]


[EN] In this research work, a new prototype of collaborative robot- assisted surgical platform for transpedicular fixation surgeries is presented. The usage of assistive robotic systems during conventional surgical procedures ...[+]
Palabras clave: Singularities , Inverse kinematics problem , Redundant manipulator , Co-operative control , Biomedical system
Derechos de uso: Reconocimiento - No comercial - Sin obra derivada (by-nc-nd)
Fuente:
Revista Iberoamericana de Automática e Informática industrial. (issn: 1697-7912 ) (eissn: 1697-7920 )
DOI: 10.1016/j.riai.2014.05.007
Editorial:
Universitat Politècnica de València
Versión del editor: https://doi.org/10.1016/j.riai.2014.05.007
Tipo: Artículo

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