Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots

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dc.contributor.author	Zamora-Ortiz, Pau	es_ES
dc.contributor.author	Carral-Alvaro, Javier	es_ES
dc.contributor.author	Valera Fernández, Ángel	es_ES
dc.contributor.author	Pulloquinga-Zapata, José	es_ES
dc.contributor.author	Escarabajal-Sánchez, Rafael José	es_ES
dc.contributor.author	Mata Amela, Vicente	es_ES
dc.date.accessioned	2022-09-29T18:04:49Z
dc.date.available	2022-09-29T18:04:49Z
dc.date.issued	2021-04	es_ES
dc.identifier.uri	http://hdl.handle.net/10251/186754
dc.description.abstract	[EN] Surgeries or rehabilitation exercises are hazardous tasks for a mechanical system, as the device has to interact with parts of the human body without the hands-on experience that the surgeon or physiotherapist acquires over time. For various gynecological laparoscopic surgeries, such as laparoscopic hysterectomy or laparoscopic pelvic endometriosis, Uterine Manipulators are used. These medical devices allow the uterus to be suitably mobilized. A gap needs to be filled in terms of the precise handling of this type of devices. In this sense, this manuscript first describes the mathematical procedure to identify the inertial parameters of uterine manipulators. These parameters are needed to establish an accurate position and force control for an electromechanical system to assist surgical operations. The method for identifying the mass and the center of mass of the manipulator is based on the solution of the equations for the static equilibrium of rigid solids. Based on the manipulator inertial parameter estimation, the paper shows how the force exerted by the manipulator can be obtained. For this purpose, it solves a matrix system composed of the torques and forces of the manipulator. Different manipulators have been used, and it has been verified that the mathematical procedures proposed in this work allow us to calculate in an accurate and efficient way the force exerted by these manipulators.	es_ES
dc.description.sponsorship	The authors wish to thank the "Agencia Valenciana de la Innovacio" (Generalitat Valenciana) for the partial funding of this study under the project with reference INNCON00/20/002. We also want to thank the "Instituto Universitario de Automatica e Informatica Industrial (ai2)" of the "Universitat Politecnica de Valencia" for its financial support under the program "Plan de ayudas a la I+D+I del Instituto ai2".	es_ES
dc.language	Inglés	es_ES
dc.publisher	MDPI AG	es_ES
dc.relation.ispartof	Mathematics	es_ES
dc.rights	Reconocimiento (by)	es_ES
dc.subject	Inertial parameters	es_ES
dc.subject	Parameter identification	es_ES
dc.subject	Assistance robot	es_ES
dc.subject	Force sensor	es_ES
dc.subject	Surgery robot	es_ES
dc.subject	Robot control	es_ES
dc.subject.classification	INGENIERIA DE SISTEMAS Y AUTOMATICA	es_ES
dc.subject.classification	INGENIERIA MECANICA	es_ES
dc.title	Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots	es_ES
dc.type	Artículo	es_ES
dc.identifier.doi	10.3390/math9070773	es_ES
dc.relation.projectID	info:eu-repo/grantAgreement/AVI//INNCON00%2F20%2F002/	es_ES
dc.rights.accessRights	Abierto	es_ES
dc.contributor.affiliation	Universitat Politècnica de València. Departamento de Ingeniería Mecánica y de Materiales - Departament d'Enginyeria Mecànica i de Materials	es_ES
dc.contributor.affiliation	Universitat Politècnica de València. Departamento de Ingeniería de Sistemas y Automática - Departament d'Enginyeria de Sistemes i Automàtica	es_ES
dc.description.bibliographicCitation	Zamora-Ortiz, P.; Carral-Alvaro, J.; Valera Fernández, Á.; Pulloquinga-Zapata, J.; Escarabajal-Sánchez, RJ.; Mata Amela, V. (2021). Identification of Inertial Parameters for Position and Force Control of Surgical Assistance Robots. Mathematics. 9(7):1-16. https://doi.org/10.3390/math9070773	es_ES
dc.description.accrualMethod	S	es_ES
dc.relation.publisherversion	https://doi.org/10.3390/math9070773	es_ES
dc.description.upvformatpinicio	1	es_ES
dc.description.upvformatpfin	16	es_ES
dc.type.version	info:eu-repo/semantics/publishedVersion	es_ES
dc.description.volume	9	es_ES
dc.description.issue	7	es_ES
dc.identifier.eissn	2227-7390	es_ES
dc.relation.pasarela	S\432250	es_ES
dc.contributor.funder	Agencia Valenciana de la Innovación	es_ES
dc.contributor.funder	Universitat Politècnica de València	es_ES
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