dc.creatorCaravaca-Mora, Oscar Mauricio
dc.date.accessioned2017-06-01T21:36:43Z
dc.date.available2017-06-01T21:36:43Z
dc.date.created2017-06-01T21:36:43Z
dc.date.issued2016
dc.identifierhttps://hdl.handle.net/2238/7138
dc.description.abstractDuring the last decade, Minimally Invasive Surgeries (MIS) have become a trend in the medical field, given the numerous benefits such as: reduced trauma, shorter recovery time and minimal postoperative complications. It has been promoted by the development of new technologies mainly in the field of robotics. Robotic technologies has emerged as a great option to create solutions that enhance the surgeon's perception and dexterity and allows access to often inaccessible human body places by keeping the smallest incision as possible. This document describes the modeling and control of a hand-held robotized medical instrument using stereo vision feedback, with the purpose of providing automatic assistance to the surgeon during the surgical procedure. The system modeling, simulation, experimental evaluation and results will be presented in this thesis document.
dc.languageeng_US
dc.publisherInstituto Tecnológico de Costa Rica
dc.subjectVisión artificial
dc.subjectRobótica
dc.subjectAtención médica
dc.titleModeling and controlling a robotized medical instrument
dc.typeinfo:eu-repo/semantics/masterThesis


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