Control Cartesiano de un Asistente Robótico Para Cirugía Laparoscópica

摘要

[EN] This paper is focuses on the motion control applied to a cameraman robotic assistant for minimally invasive surgery. In particular, this paper is devoted to the camera navigation problem refered to robots endowed with passive wrists. The proposed methodology is based on a previous kinematic analysis of the task. By using this information, an adaptive cartesian motion controller has been designed. This scheme generates on-line trajectories for moving the laparoscopic camera to a desired target position in such a way that the actuators saturation is taken into account. The proposed strategy has been implanted in the ERM assistant used to carry out clinical trials on thirty two patients.