Institutional Repository [SANDBOX]
Technical University of Crete
EN  |  EL

Search

Browse

My Space

Simulation model of robotic arm for laparoscopic surgery

Tzagkas Dimitrios , Stavrakakis Georgios, Zervakis Michail, Hatzilias Petros V., Gketsis Zacharias E.

Full record


URI: http://purl.tuc.gr/dl/dias/5677661F-C508-492F-90E7-6598511267AB
Year 2007
Type of Item Conference Full Paper
License
Details
Bibliographic Citation D. Tzagkas, Z. E. Gketsis, G. Stavrakakis, M. E. Zervakis and P. V. Hatzilias, "Simulation model of robotic arm for laparoscopic surgery," in European Control Conference, 2007, pp. 3132-3138. doi: 10.23919/ECC.2007.7068565 https://doi.org/10.23919/ECC.2007.7068565
Appears in Collections

Summary

Many problems that concern the image the surgeon sees arise, during a laparoscopic surgery, such as limited perception of depth and field of view (fov). With a correct modeling of the surgical robot (in our case is the robotic arm AESOP1000) and appropriate image processing algorithms we can give the doctor the ability to have better perception of the space the laparoscope `sees' through its camera(s). One of our objectives deals with robotic arm kinematics and dynamics. AESOP1000 is modeled and simulated through VRML language. We can model an exact virtual space of the patient's abdomen and the trainee can use the robotic arm for a virtual `tour' in it. Using the model, he can observe how the camera is moving in abdomen space but also he can place the camera at every point he wants.

Services

Statistics