cirugía robótica mínimamente invasiva: análisis de fuerza y torque

摘要

minimally invasive surgery and the adaptation of robotics to these procedures represent many advantages for the \npatient, the surgeon, and the health program. However, commercial devices used nowadays lack haptic feedback. this fact makes \nthe tissue identification more difficult and increments the injuries risk during the surgical procedure. The development of systems \nwith this kind of feedback has become a topic of interest throughout the world. the present article contains a revision of the state \nof the art about commercial and experimental systems developed in this area. models for the force and torque propagation, used in \nminimally invasive surgery, are also presented.