{"id":54636,"date":"2018-03-09T22:42:23","date_gmt":"2018-03-09T22:42:23","guid":{"rendered":"https:\/\/www.deberes.net\/tesis\/sin-categoria\/control-operacional-de-un-robot-asistente-para-ciruga%c2%ada-laparoscopica\/"},"modified":"2018-03-09T22:42:23","modified_gmt":"2018-03-09T22:42:23","slug":"control-operacional-de-un-robot-asistente-para-ciruga%c2%ada-laparoscopica","status":"publish","type":"post","link":"https:\/\/www.deberes.net\/tesis\/tecnologia-medica\/control-operacional-de-un-robot-asistente-para-ciruga%c2%ada-laparoscopica\/","title":{"rendered":"Control operacional de un robot asistente para cirugia laparosc\u00f3pica"},"content":{"rendered":"<h2>Tesis doctoral de <strong> Isabel Garc\u00eda Morales <\/strong><\/h2>\n<p>Esta tesis trata el problema del control cartesiano de movimientos para un robot portador de la c\u00e1mara en cirug\u00eda laparosc\u00f3pica. En concreto, se propone un algoritmo de generaci\u00f3n de trayectorias esf\u00e9ricas en l\u00ednea que compensa los errores de orientaci\u00f3n de la c\u00e1mara producidos  por la incertidumbre en la posici\u00f3n del flcro (lugar donde la \u00f3ptica se introduce en el abdomen del enfermo). Asimismo, se ha tenido en cuenta que las trayectorias calculadas no saturen los actuadores del manipulador mediante un estudio basado en el concepto de manipulabilidad.     la estrategia de control elaborada se ha implantado en el asistente rob\u00f3tico para la cirug\u00eda laparoscopica erm (dise\u00f1ado y construido durante la realizaci\u00f3n del presente trabajo), y con el se ha efectuado un ensayo cl\u00ednico sobre dos series de diecis\u00e9is enfermos.<\/p>\n<p>&nbsp;<\/p>\n<h3>Datos acad\u00e9micos de la tesis doctoral \u00ab<strong>Control operacional de un robot asistente para cirugia laparosc\u00f3pica<\/strong>\u00ab<\/h3>\n<ul>\n<li><strong>T\u00edtulo de la tesis:<\/strong>\u00a0 Control operacional de un robot asistente para cirugia laparosc\u00f3pica <\/li>\n<li><strong>Autor:<\/strong>\u00a0 Isabel Garc\u00eda Morales <\/li>\n<li><strong>Universidad:<\/strong>\u00a0 M\u00e1laga<\/li>\n<li><strong>Fecha de lectura de la tesis:<\/strong>\u00a0 21\/09\/2006<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<h3>Direcci\u00f3n y tribunal<\/h3>\n<ul>\n<li><strong>Director de la tesis<\/strong>\n<ul>\n<li> Mu\u00f1oz Mart\u00ednez Victor Fernando<\/li>\n<\/ul>\n<\/li>\n<li><strong>Tribunal<\/strong>\n<ul>\n<li>Presidente del tribunal: Carlos Vara thorbeck <\/li>\n<li>Rafael Aracil santonja (vocal)<\/li>\n<li>Miguel \u00e1ngel Salichs s\u00e1nchez-caballero (vocal)<\/li>\n<li>alicia Casals gelp\u00ed (vocal)<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Tesis doctoral de Isabel Garc\u00eda Morales Esta tesis trata el problema del control cartesiano de movimientos para un robot portador [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"default","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"var(--ast-global-color-4)","background-image":"","background-repeat":"repeat","background-position":"center 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