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Simulation model of robotic arm for laparoscopic surgery

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

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URIhttp://purl.tuc.gr/dl/dias/5677661F-C508-492F-90E7-6598511267AB-
Identifierhttps://ieeexplore.ieee.org/document/7068565/-
Identifierhttps://doi.org/10.23919/ECC.2007.7068565-
Languageen-
Extent7 pagesen
TitleSimulation model of robotic arm for laparoscopic surgeryen
CreatorTzagkas Dimitrios en
CreatorStavrakakis Georgiosen
CreatorΣταυρακακης Γεωργιοςel
CreatorZervakis Michailen
CreatorΖερβακης Μιχαηλel
CreatorHatzilias Petros V.en
CreatorGketsis Zacharias E.en
PublisherInstitute of Electrical and Electronics Engineersen
Content SummaryMany 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. en
Type of ItemΠλήρης Δημοσίευση σε Συνέδριοel
Type of ItemConference Full Paperen
Licensehttp://creativecommons.org/licenses/by/4.0/en
Date of Item2015-10-26-
Date of Publication2007-
SubjectKinematics of robotsen
SubjectRobot kinematicsen
Subjectrobots kinematicsen
Subjectkinematics of robotsen
Subjectrobot kinematicsen
SubjectJointsen
SubjectLaparoscopesen
SubjectVectorsen
SubjectKinematicsen
SubjectMathematical modelen
Bibliographic CitationD. 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.2007.7068565en

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