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Vol. 25 No. 42 (2016)

Papers

Design and modeling of a virtual PA-10 robot for surgical applications

https://doi.org/10.19053/01211129.4627

Published 2016-05-03

  • Carlos Eduardo Fernández-Riomalo
    • ,
  • Héctor Andrés Guástar-Morillo
    • ,
  • Oscar Andrés Vivas-Albán

Carlos Eduardo Fernández-Riomalo
Universidad del Cauca (Cauca – Popayán, Colombia).

Héctor Andrés Guástar-Morillo
Universidad del Cauca (Cauca – Popayán, Colombia).

Oscar Andrés Vivas-Albán
Universidad del Cauca (Cauca – Popayán, Colombia).

Abstract

This paper shows the implementation of a PA-10 Mitsubishi robot on a surgical virtual simulator for laparoscopic surgeries by using surgical assistant robots. For the proposed simulator three robots are necessary: An endoscope-holder robot (in this case the Hibou robot), and two surgical robots (in this case a Lapbot robot and the designed PA-10 robot). The three robots are manipulated by a joystick device on a gallbladder ablation exercise (cholecystectomy). Deformation algorithms are included to provide greater realism, when the end-effector of the robot collides with the PA-10 virtual robot, abdominal organ. Results provide the base of a surgical virtual simulator using three assistant robots on a common laparoscopic surgical exercise, that can be used for training new surgeons.

Keywords

maparoscopic, modeling robot, surgical robotics, surgical simulator virtual robot

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