Author:
Garcés Bernardo Efraín,Mora Oscar Gabriel,Vivas Oscar Andrés
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.
Reference19 articles.
1. P. Mouret. “How I developed laparoscopic cholecystectomy”. Annals of the Academy of Medicine Singapore. Vol. 25. 1996. pp. 744-747. }
2. 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.
3. G.S. Lytinski. “Endoscopic surgery: The history, the Pioneers”. World Journal of Surgery. Vol. 23. 1999. pp. 745-753.
4. D.B. Jones. Laparoscopic Surgery: Principles and Procedures. Ed. Marcel Dekker. New York. 2004. pp. 1-6.
5. M. Jacobs, M. Gagner. J. Cueto-García. Laparoscopic Surgery. Ed. McGraw Hill. New York. 2003. pp. 35-40.