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Title: Trajectory tracking of the robot end effector for the minimally invasive surgeries

Authors: José De Jesús Rubio; Panuncio Cruz; Enrique Garcia; Cesar Felipe Juárez; David Ricardo Cruz; Jesús López

Addresses: Sección de Estudios de Posgrado e Investigación, Esime Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, México D.F., 02250, México ' Sección de Estudios de Posgrado e Investigación, Esime Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, México D.F., 02250, México ' Sección de Estudios de Posgrado e Investigación, Esime Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, México D.F., 02250, México ' Sección de Estudios de Posgrado e Investigación, Esime Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, México D.F., 02250, México ' Sección de Estudios de Posgrado e Investigación, Esime Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, México D.F., 02250, México ' Sección de Estudios de Posgrado e Investigación, Esime Azcapotzalco, Instituto Politécnico Nacional, Av. de las Granjas no. 682, Col. Santa Catarina, México D.F., 02250, México

Abstract: The surgery technology has been highly investigated, with the purpose to reach an efficient way of working in medicine. Consequently, robots with small tools have been incorporated in many kind of surgeries to reach the following improvements: the patient gets a faster recovery, the surgery is not invasive, and the robot can access to the body occult parts. In this article, an adaptive strategy for the trajectory tracking of the robot end effector is addressed; it consists of a proportional derivative technique plus an adaptive compensation. The proportional derivative technique is employed to reach the trajectory tracking. The adaptive compensation is employed to reach approximation of some unknown dynamics. The robot described in this study is employed in minimally invasive surgeries.

Keywords: trajectory tracking; robot; minimal invasive surgery.

DOI: 10.1504/IJBIDM.2020.103843

International Journal of Business Intelligence and Data Mining, 2020 Vol.16 No.1, pp.66 - 88

Received: 12 May 2017
Accepted: 18 Jun 2017

Published online: 12 Nov 2019 *

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