2016-11-182013-02@inproceedings{cortes2013robotic, author ={Camilo A. Cortes and Inigo Barandiaran and Oscar E. Ruiz and Alessandro De Mauro}, title ={Robotic Research Platform For Image-Guided Surgery Assistance}, booktitle ={Proceedings of the IASTED International Conference Biomedical Engineering (BioMed 2013)}, year ={2013}, editor ={A.R. Boccaccini}, month ={February 13-15}, address ={Innsbruck, Austria}, keys ={robotic surgery, master-slave systems, teleoperation, image-guided surgery}, organization ={International Association of Science and Technology Development}, pages ={427--434}, publisher ={ACTA Press}, abstract ={In the context of surgery, it is very common to face challenging scenarios during the preoperative plan implementation. The surgical technique’s complexity, the human anatomical variability and the occurrence of unexpected situations generate issues for the intervention’s goals achievement. To support the surgeon, robotic systems are being integrated to the operating room. However, current commercial solutions are specialized for a particular technique or medical application, being difficult to integrate with other systems. Thus, versatile and modular systems are needed to conduct several procedures and to help solving the problems that surgeons face. This article aims to describe the implementation of a robotic research platform prototype that allows novel applications in the field of image-guided surgery. In particular, this research is focused on the topics of medical image acquisition during surgery, patient registration and surgical/medical equipment operation. In this paper, we address the implementation of the general purpose teleoperation and path following modes of the platform, which constitute the base of future developments. Also, we discuss relevant aspects of the system, as well as future directions and application fields to investigate.}, isbn ={978-0-88986-942-4}, doi={10.2316/P.2013.791-067} }978-0-88986-942-41929-9796http://hdl.handle.net/10784/9695In the context of surgery, it is very common to face challenging scenarios during the preoperative plan implementation -- The surgical technique’s complexity, the human anatomical variability and the occurrence of unexpected situations generate issues for the intervention’s goals achievement -- To support the surgeon, robotic systems are being integrated to the operating room -- However, current commercial solutions are specialized for a particular technique or medical application, being difficult to integrate with other systems -- Thus, versatile and modular systems are needed to conduct several procedures and to help solving the problems that surgeons face -- This article aims to describe the implementation of a robotic research platform prototype that allows novel applications in the field of imageguided surgery -- In particular, this research is focused on the topics of medical image acquisition during surgery, patient registration and surgical/medical equipment operation -- In this paper, we address the implementation of the general purpose teleoperation and path following modes of the platform, which constitute the base of future developments -- Also, we discuss relevant aspects of the system, as well as future directions and application fields to investigateapplication/pdfenginfo:eu-repo/semantics/conferencePaperinfo:eu-repo/semantics/closedAccessCIRUGÍA - APARATOS E INSTRUMENTOSTECNOLOGÍA QUIRÚRGICAROBÓTICADESARROLLO DE PROTOTIPOSCONTROLADORES PROGRAMABLESPROCESAMIENTO DIGITAL DE IMÁGENESPROCESAMIENTO DIGITAL DE IMÁGENES-CONGRESOS, CONFERENCIAS, ETC.Surgical instruments and apparatusSurgical technologyRoboticsPrototype developmentProgrammable controllersImage processing - Digital techniques - CongressesImágenes digitales en medicinaSistemas de control automatizadoTelerrobóticaTeleoperaciónAcceso cerrado2016-11-18Cortes, Camilo A.Barandiaran, IñigoRuíz, Óscar E.De Mauro, Alessandro10.2316/P.2013.791-067