Tonatiuh II: assisting manipulator for laparoscopic surgery.
In this article we show the design of the Tonatiuh II robotic manipulator. This robotic assistant has an original electromechanical configuration and respects the laparoscope center of insertion as an invariant point for navigation in the work space. The manipulator went through several stages before reaching its final version. Surgical trials have shown the robot to be useful in the operating room and as a training assistant in specialty microsurgery.
Martínez
Arturo Minor
AM
Centro de Investigación y de Estudios Avanzados del IPN, Departamento de Ingeniería Eléctrica Sección de Bioelectrónica, Mexico City, Mexico. aminor@cinvestav.mx
Flores
Ricardo Ordórica
RO
Vera
Mauricio Galán
MG
Salazar
Raúl Cruz
RC
Luis
Mosso Jose
MJ
Daniel
Lorias
L
D000818:Animals; D004867:Equipment Design / Q000295:instrumentation*; D006801:Humans; D020706:Laparoscopes; D010535:Laparoscopy / Q000379:methods*; D012371:Robotics