{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,25]],"date-time":"2026-02-25T21:03:17Z","timestamp":1772053397654,"version":"3.50.1"},"reference-count":26,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2021,3,26]],"date-time":"2021-03-26T00:00:00Z","timestamp":1616716800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100014440","name":"Ministerio de Ciencia, Innovaci\u00f3n y Universidades","doi-asserted-by":"publisher","award":["DPI2016-80391-R"],"award-info":[{"award-number":["DPI2016-80391-R"]}],"id":[{"id":"10.13039\/100014440","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Endonasal surgery is a minimally invasive approach for the removal of pituitary tumors (sarcomas). In this type of procedure, the surgeon has to complete the surgical maneuvers for sarcoma resection with extreme precision, as there are many vital structures in this area. Therefore, the use of robots for this type of intervention could increase the success of the intervention by providing accurate movements. Research has focused on the development of teleoperated robots to handle a surgical instrument, including the use of virtual fixtures to delimit the working area. This paper aims to go a step further with a platform that includes a teleoperated robot and an autonomous robot dedicated to secondary tasks. In this way, the aim is to reduce the surgeon\u2019s workload so that he can concentrate on his main task. Thus, the article focuses on the description and implementation of a navigator that coordinates both robots via a force\/position control. Finally, both the navigation and control scheme were validated by in-vitro tests.<\/jats:p>","DOI":"10.3390\/s21072320","type":"journal-article","created":{"date-parts":[[2021,3,26]],"date-time":"2021-03-26T13:17:53Z","timestamp":1616764673000},"page":"2320","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Collaborative Robotic Assistant Platform for Endonasal Surgery: Preliminary In-Vitro Trials"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2404-0050","authenticated-orcid":false,"given":"Victor F.","family":"Mu\u00f1oz","sequence":"first","affiliation":[{"name":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1161-1806","authenticated-orcid":false,"given":"Isabel","family":"Garcia-Morales","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2877-7300","authenticated-orcid":false,"given":"Juan Carlos","family":"Fraile-Marinero","sequence":"additional","affiliation":[{"name":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n, Universidad de Valladolid, 47002 Valladolid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7731-2411","authenticated-orcid":false,"given":"Javier","family":"Perez-Turiel","sequence":"additional","affiliation":[{"name":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n, Universidad de Valladolid, 47002 Valladolid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alvaro","family":"Mu\u00f1oz-Garcia","sequence":"additional","affiliation":[{"name":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n, Universidad de Valladolid, 47002 Valladolid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0753-8714","authenticated-orcid":false,"given":"Enrique","family":"Bauzano","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6936-1918","authenticated-orcid":false,"given":"Irene","family":"Rivas-Blanco","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad de M\u00e1laga, 29071 M\u00e1laga, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3890-6225","authenticated-orcid":false,"given":"Jose Mar\u00eda","family":"Sabater-Navarro","sequence":"additional","affiliation":[{"name":"Departamento de Ingenier\u00eda de Sistemas y Autom\u00e1tica, Universidad Miguel Hern\u00e1ndez, 03202 Elche, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eusebio de la","family":"Fuente","sequence":"additional","affiliation":[{"name":"Instituto de las Tecnolog\u00edas Avanzadas de la Producci\u00f3n, Universidad de Valladolid, 47002 Valladolid, Spain"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2021,3,26]]},"reference":[{"key":"ref_1","unstructured":"(2020, March 17). 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