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- W56134441 abstract "Resumen — Este articulo presenta el diseno de un nuevo robot para cirugia endoscopica transluminal. Este tipo de cirugia, evolucion tecnologica de la cirugia laparoscopica, pretende ingresar al abdomen del paciente por los orifi cios naturales (boca, uretra, ano o vagina), y desde alli acceder al sitio donde se hace necesaria la intervencion, procedimiento que conlleva muchas mas ventajas respecto a la cirugia laparoscopica. El robot disenado consta de diecinueve grados de libertad y es movido por un joystick utilizando un controlador por par calculado. La simulacion muestra bajos errores cartesianos y movimientos muy preciso s del organo terminal. Palabras clave — Cirugia Minimamente Invasiva, Cirugia Endoscopica Transluminal, Control de Robots, Robotica Quirurgica. Abstract — This article presents the design of a new robot for translumenal endoscopic surgery. This type of surgery, evolved from laparoscopic surgery, allows the access into the abdominal cavity of the patient through natural orifi ces such as the mouth, urethra, anus or vagina, and from there reaches the area of the surgical intervention. This procedure has many advantages over laparoscopic surgery. The designed robot has nineteen degrees of freedom and is moved with a joystick device and controlled by a computer torque control. Simulation shows low cartesian errors as well as accurate movements at the end effector." @default.
- W56134441 created "2016-06-24" @default.
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- W56134441 date "2011-12-01" @default.
- W56134441 modified "2023-09-23" @default.
- W56134441 title "Modelado y simulación de un robot para cirugía endoscópica transluminal" @default.
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