Abstract

BUITRAGO-SALAZAR, Germán; RAMOS-SANDOVAL, Olga Lucía  and  AMAYA-HURTADO, Darío. Tele-robotic system for surgical assistant training. Ingeniería Mecánica [online]. 2016, vol.19, n.3, pp.119-127. ISSN 1815-5944.

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.

Keywords : telerobotic; Surgical Robotic Assistance; Master-Slave System; learning.

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