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- W1963580575 abstract "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 improves surgical outcomes, as they ensure high levels of precision and safety. Hence, robustness and dexterity of the mechatronic devices must be guaranteed, even in the neighborhood of unstable configurations during their performance. Bearing this in mind, a singularity management strategy has been implemented in the robotic platform, based on the Damped Least Squares method using an adaptive damping factor together with a methodology for optimization of joint redundancy of the platform manipulator, Mitsubishi PA10-7C." @default.
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- W1963580575 date "2015-01-01" @default.
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- W1963580575 title "Desarrollo e implementación de una estrategia de gestión de singularidades para un sistema robótico redundante cooperativo destinado a la asistencia en intervenciones quirúrgicas" @default.
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- W1963580575 doi "https://doi.org/10.1016/j.riai.2014.05.007" @default.
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