title: Tonatiuh II: assisting manipulator for laparoscopic surgery.
abstract: 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.
authors.affiliation: Centro de Investigación y de Estudios Avanzados del IPN, Departamento de Ingeniería Eléctrica Sección de Bioelectrónica, Mexico City, Mexico. aminor@cinvestav.mx
authors.forename: Arturo Minor
authors.initials: AM
authors.lastname: Martínez
authors.forename: Ricardo Ordórica
authors.initials: RO
authors.lastname: Flores
authors.forename: Mauricio Galán
authors.initials: MG
authors.lastname: Vera
authors.forename: Raúl Cruz
authors.initials: RC
authors.lastname: Salazar
authors.forename: Mosso Jose
authors.initials: MJ
authors.lastname: Luis
authors.forename: Lorias
authors.initials: L
authors.lastname: Daniel
mesh_terms: D000818:Animals; D004867:Equipment Design / Q000295:instrumentation*; D006801:Humans; D020706:Laparoscopes; D010535:Laparoscopy / Q000379:methods*; D012371:Robotics