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

Sajeeva Abeywardena; Efi Psomopoulou; Mohammad Fattahi Sani; Antonia Tzemanaki; Sanja Dogramadzi

doi:10.1007/978-3-030-31635-8_191

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 proceeding › Conference 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 language	English
Title of host publication	XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019
Publisher	Springer
Pages	1545-1550
ISBN (Electronic)	978-3-030-31635-8
ISBN (Print)	978-3-030-31634-1
DOIs	https://doi.org/10.1007/978-3-030-31635-8_191
Publication status	Published - 25 Sep 2019
Event	15th Mediterranean Conference on Medical and Biological Engineering and Computing (MEDICON2019) - Coimbra, Coimbra, Portugal Duration: 26 Sep 2019 → 28 Sep 2019 http://www.medicon2019.org/

Publication series

Name	IFMBE Proceedings
Publisher	Springer
Volume	76

Conference

Conference	15th Mediterranean Conference on Medical and Biological Engineering and Computing (MEDICON2019)
Country	Portugal
City	Coimbra
Period	26/09/19 → 28/09/19
Internet address	http://www.medicon2019.org/

Keywords

Exoskeleton
Robot-assisted minimally invasive surgery
Geometric models
Mapping

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10.1007/978-3-030-31635-8_191

Full-text PDF (author’s accepted manuscript)
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Accepted author manuscript, 6.38 MB

Cite this

Abeywardena, S., Psomopoulou, E., Fattahi Sani, M., Tzemanaki, A., & Dogramadzi, S. (2019). Control of a da Vinci EndoWrist surgical instrument using a novel master controller. In XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 (pp. 1545-1550). (IFMBE Proceedings; Vol. 76). Springer. https://doi.org/10.1007/978-3-030-31635-8_191

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title = "Control of a da Vinci EndoWrist surgical instrument using a novel master controller",

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.",

keywords = "Exoskeleton, Robot-assisted minimally invasive surgery, Geometric models, Mapping",

author = "Sajeeva Abeywardena and Efi Psomopoulou and {Fattahi Sani}, Mohammad and Antonia Tzemanaki and Sanja Dogramadzi",

year = "2019",

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doi = "10.1007/978-3-030-31635-8_191",

language = "English",

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series = "IFMBE Proceedings",

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booktitle = "XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019",

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Abeywardena, S, Psomopoulou, E, Fattahi Sani, M, Tzemanaki, A & Dogramadzi, S 2019, Control of a da Vinci EndoWrist surgical instrument using a novel master controller. in XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019. IFMBE Proceedings, vol. 76, Springer, pp. 1545-1550, 15th Mediterranean Conference on Medical and Biological Engineering and Computing (MEDICON2019), Coimbra, Portugal, 26/09/19. https://doi.org/10.1007/978-3-030-31635-8_191

Control of a da Vinci EndoWrist surgical instrument using a novel master controller. / Abeywardena, Sajeeva; Psomopoulou, Efi; Fattahi Sani, Mohammad; Tzemanaki, Antonia; Dogramadzi, Sanja.

XV Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019. Springer, 2019. p. 1545-1550 (IFMBE Proceedings; Vol. 76).

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

TY - GEN

T1 - Control of a da Vinci EndoWrist surgical instrument using a novel master controller

AU - Abeywardena, Sajeeva

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AU - Fattahi Sani, Mohammad

AU - Tzemanaki, Antonia

AU - Dogramadzi, Sanja

PY - 2019/9/25

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AB - 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.

KW - Exoskeleton

KW - Robot-assisted minimally invasive surgery

KW - Geometric models

KW - Mapping

U2 - 10.1007/978-3-030-31635-8_191

DO - 10.1007/978-3-030-31635-8_191

M3 - Conference Contribution (Conference Proceeding)

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T3 - IFMBE Proceedings

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Y2 - 26 September 2019 through 28 September 2019

ER -

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

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Keywords

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