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Related Experiment Video

Updated: May 14, 2026

Automatic Surgery in Transcatheter Aortic Valve Replacement Using Augmented Reality
07:46

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Published on: August 9, 2024

Adaptive Control of the Redundant Axis of a Surgical Robot for Operating Room Workspace Optimization Using

Irati Renedo-Alonso1, Juan A Sánchez-Margallo2, Nestor Arana-Arexolaleiba1

  • 1Robotics and Automation Electronics and Computer Science Department, University of Mondragon, 20500 Mondragon, Spain.

Sensors (Basel, Switzerland)
|May 13, 2026
PubMed
Summary

Robot-assisted surgery can reduce surgeon musculoskeletal issues. This study introduces a system that adapts robot posture for better ergonomics and workspace availability during laparoscopic procedures.

Keywords:
fuzzy logichuman–robot interactionlaparoscopyreinforcement learningsurgical robotics

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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Last Updated: May 14, 2026

Automatic Surgery in Transcatheter Aortic Valve Replacement Using Augmented Reality
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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
11:53

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

Area of Science:

  • Robotics
  • Human-Computer Interaction
  • Surgical Technology

Background:

  • Laparoscopic surgery, while common, causes musculoskeletal disorders in surgeons.
  • Robot-assisted surgery offers ergonomic benefits but human-robot interaction is understudied.
  • Existing research prioritizes robotic control over surgeon interaction.

Purpose of the Study:

  • To develop a framework for workspace-aware posture adaptation in collaborative surgical robotics.
  • To enhance surgeon ergonomics and workspace availability during robotic laparoscopy.
  • To investigate human-robot interaction for improved surgical robot design.

Main Methods:

  • Combined vision-based human activity recognition and reinforcement learning.
  • Controlled a 7-DOF manipulator's shoulder-elbow-wrist angles for laparoscope manipulation.
  • Classified interaction states: controlling, observing, cutting, and blocked.

Main Results:

  • The system adapted robot posture to tilt away from the surgeon during observation/cutting.
  • The robot returned to default configuration when the surgeon moved away.
  • Fuzzy reward formulation showed improved training stability and real-system performance.

Conclusions:

  • The proposed framework enables reflexive posture adaptation for collaborative surgical robots.
  • Workspace-aware adaptation increases surgeon workspace availability.
  • Fuzzy rewards enhance training and performance for human-robot interaction in surgery.