Control of a da Vinci EndoWrist surgical instrument using a novel master controller

Sajeeva Abeywardena*, Efi Psomopoulou, Mohammad Fattahi Sani, Antonia Tzemanaki, Sanja Dogramadzi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

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Abstract

A novel master controller for robot-assisted minimally invasive surgery (RAMIS) is introduced and used to control a da Vinci EndoWrist instrument. The geometric model of the master mechanism and its mapping to the geometry of the EndoWrist tool are derived. Experimental results are conducted to open and close the jaws of an EndoWrist tool, and show that the developed mapping algorithm is accurate with a root mean square error of 0.7463 mm.
Original languageEnglish
Title of host publication15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019
EditorsJorge Henriques, Paulo de Carvalho, Nuno Neves
PublisherSpringer
Pages1545-1550
Number of pages6
ISBN (Electronic)978-3-030-31635-8
ISBN (Print)9783030316341
DOIs
Publication statusPublished - 25 Sep 2019
Event15th Mediterranean Conference on Medical and Biological Engineering and Computing (MEDICON2019) - Coimbra, Coimbra, Portugal
Duration: 26 Sep 201928 Sep 2019
http://www.medicon2019.org/

Publication series

NameIFMBE Proceedings
Volume76
ISSN (Print)1680-0737
ISSN (Electronic)1433-9277

Conference

Conference15th Mediterranean Conference on Medical and Biological Engineering and Computing (MEDICON2019)
Country/TerritoryPortugal
CityCoimbra
Period26/09/1928/09/19
Internet address

Bibliographical note

Funding Information:
Acknowledgements. This work was supported by the European Union’s Horizon 2020 research and innovation programme under grant agreement No. 732515.

Publisher Copyright:
© 2020, Springer Nature Switzerland AG.

Keywords

  • Exoskeleton
  • Robot-assisted minimally invasive surgery
  • Geometric models
  • Mapping

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