Sistema de telerobótica para entrenamiento en asistencia quirúrgica//Tele-robotic system for surgical assistant training

Authors

  • Germán Buitrago Salazar Universidad Militar Nueva Granada, Facultad de Ingeniería en Mecatrónica, Bogotá

Abstract

En este artículo, elaboró un novedoso prototipo de sistema teleoperado para asistencia y entrenamiento quirúrgico, utilizando dos manipuladores industriales y dos dispositivos de control de seis y tres grados de libertad. El sistema maestro-esclavo cuenta con un sistema de visión para la supervisión de la celda de trabajo, una interfaz de usuario para la interacción del usuario con el ambiente de los robots y etapas de filtrado de señal y de control, que disminuyen los errores posicionales y el retardo de las señales, convirtiéndolo en un sistema con trabajo en tiempo real. Los resultados obtenidos de este trabajo después de testearse con tres usuarios diferentes, verifican la facilidad de maniobrabilidad del sistema, la practicidad como elemento de aprendizaje y el alto nivel de performance obtenido durante las pruebas, siendo mayor del 87 %.

Palabras claves: telerobótica, Asistencia Robótica Quirúrgica, Sistema Maestro-Esclavo, aprendizaje.
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Abstract

This document exhibits a new prototype of teleoperated system for surgical assisting and surgical learning, using two industrial manipulators and two control devices of six and three grades of freedom. Master-slave system has a vision system for supervising the work cell, a user interface for the user can interact with environment of the robot and various filtering and control stages that reduce the positional errors and signal delay, presenting the system as a suitable model for working in real time. The results obtained, after of the testing of the system with three different operators, verify the simple of control the system, the facility to b used as an element of learning and estimating a performance over 87 % during the testing.

Key words: telerobotic, Surgical Robotic Assistance, Master-Slave System, learning.

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How to Cite

1.
Buitrago Salazar G. Sistema de telerobótica para entrenamiento en asistencia quirúrgica//Tele-robotic system for surgical assistant training. Ing. Mec. [Internet]. 2016 Sep. 1 [cited 2025 Nov. 4];19(3):119-27. Available from: https://ingenieriamecanica.cujae.edu.cu/index.php/revistaim/article/view/542

Issue

Vol. 19 No. 3 (2016): septiembre-diciembre

Section

Original article

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