Robótica Médica
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Design of robotic assistants

ISAISA (Intelligent Surgery Assistant). It is the first robotic assistant designed to be used in laparoscopic surgery; it is based on an industrial Stäubli RX60 robot. The robot must fulfil various requirements, such as accessing the entire working area by means of an endoscope without limiting the surgeon’s movements. The assistant is handled in response to the surgeon’s commands. In the lower picture, it can be appreciated a clinical trial using animals for experimentation purposes. It was developed under the project framework FIS-00/0050-02.




ERM (Edoscope Robotics Manipulator). Robotic assistant developed under the project framework PI021708. It is designed to fulfil the kinematic requirements used for the ISA assistant, as well as the real-time needs found in a human operating room. In this sense, there was emphasis on the fact that the robot used here does not require any structural modification in the operating room, and that it does not obstruct the surgeons’ movements. In the left picture, it is shown the ERM, version 1.0.




RTUP. The right picture shows the ISA robot adaptation for the transurethral resection of the prostate. The intervention involves passing a narrow metal telescope, attached to the robot end effector, through the patient’s penis until it reaches the prostate. The robot is handled by a master manipulator.




CISOBOT. It consists of a two-arm robot, one to control the laparoscopic camera and another to help the surgeon operate along the intervention in a semi-autonomous mode. The objective of the CISOBOT system is to help the surgeon operate alone. To that end, the system is provided with a multimodal HMI leading the robot to a higher reaction capacity and a high level intelligence. This robotic assistant has been developed under the project frameworks DPI2007-62257 y P07-TEP-02897.




See publication: Design of surgical assistant robots



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