Human-Robot Interaction Applied to Robotized Laparoscopic Suture
摘要
Laparoscopic surgery is a minimally invasive surgery that makes small incisions in the patient’s tissue during the procedure in order to reduce infection and postoperative time. When using robots in this task applied to laparoscopic suturing, one of the main challenges encountered is human-robot iteration. To address this problem, this paper presents a functional architecture where the recognition of the surgeon’s gestures by means of Machine Learning models and force-position control techniques of the surgical instrument stand out.