TY - GEN
T1 - Development of a Laparoscope Prototype Based on the Continuous Redundant Cable Robot Tested in a Simulated Abdominal Pelvic Cavity
AU - Pena, Camila Valentina Osorio
AU - Riano, L. C.L.
AU - Alfonso, Julian David Medina
AU - Leon-Rodriguez, Hernando
N1 - Publisher Copyright:
© 2022 ICROS.
PY - 2022
Y1 - 2022
N2 - The applications of continuous-redundant robots in the medical field, thanks to their hyper-flexibility and their ability to slide through complex curvilinear lines, make them ideal for surgical procedures. This paper describes the design, construction and control of a continuous redundant robot, driven by tension cables, based on the robotic model. Tests were carried out in a simulated physical environment of the Abdominopelvic cavity. Regarding the control of the system, inverse kinematics were used, which allowed to relate the different variables of the same, using the MatLAB and Arduino programs; its manipulation was carried out by means of a joystick and a PID control. Evaluation, performance of the system, position of the end effector, the length of the tension cables in each movement, as well as their respective curvature and angles were recorded through calculations.
AB - The applications of continuous-redundant robots in the medical field, thanks to their hyper-flexibility and their ability to slide through complex curvilinear lines, make them ideal for surgical procedures. This paper describes the design, construction and control of a continuous redundant robot, driven by tension cables, based on the robotic model. Tests were carried out in a simulated physical environment of the Abdominopelvic cavity. Regarding the control of the system, inverse kinematics were used, which allowed to relate the different variables of the same, using the MatLAB and Arduino programs; its manipulation was carried out by means of a joystick and a PID control. Evaluation, performance of the system, position of the end effector, the length of the tension cables in each movement, as well as their respective curvature and angles were recorded through calculations.
KW - Continuous redundant robot
KW - PID control
KW - laparoscope systems
KW - position control
UR - http://www.scopus.com/inward/record.url?scp=85146629579&partnerID=8YFLogxK
U2 - 10.23919/ICCAS55662.2022.10003723
DO - 10.23919/ICCAS55662.2022.10003723
M3 - Conference contribution
AN - SCOPUS:85146629579
T3 - International Conference on Control, Automation and Systems
SP - 292
EP - 299
BT - 2022 22nd International Conference on Control, Automation and Systems, ICCAS 2022
PB - IEEE Computer Society
T2 - 22nd International Conference on Control, Automation and Systems, ICCAS 2022
Y2 - 27 November 2022 through 1 December 2022
ER -