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	15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019
Editors	Jorge Henriques, Paulo de Carvalho, Nuno Neves
Publisher	Springer
Pages	1545-1550
Number of pages	6
ISBN (Electronic)	978-3-030-31635-8
ISBN (Print)	9783030316341
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
Volume	76
ISSN (Print)	1680-0737
ISSN (Electronic)	1433-9277

Conference

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

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

Access to Document

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., Sani, M. F., Tzemanaki, A., & Dogramadzi, S. (2019). Control of a da Vinci EndoWrist surgical instrument using a novel master controller. In J. Henriques, P. de Carvalho, & N. Neves (Eds.), 15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019 (pp. 1545-1550). (IFMBE Proceedings; Vol. 76). Springer. https://doi.org/10.1007/978-3-030-31635-8_191

Abeywardena, Sajeeva ; Psomopoulou, Efi ; Sani, Mohammad Fattahi ; Tzemanaki, Antonia ; Dogramadzi, Sanja. / Control of a da Vinci EndoWrist surgical instrument using a novel master controller. 15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019. editor / Jorge Henriques ; Paulo de Carvalho ; Nuno Neves. Springer, 2019. pp. 1545-1550 (IFMBE Proceedings).

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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.",

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Abeywardena, S, Psomopoulou, E, Sani, MF, Tzemanaki, A & Dogramadzi, S 2019, Control of a da Vinci EndoWrist surgical instrument using a novel master controller. in J Henriques, P de Carvalho & N Neves (eds), 15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of 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; Sani, Mohammad Fattahi; Tzemanaki, Antonia; Dogramadzi, Sanja.

15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019. ed. / Jorge Henriques; Paulo de Carvalho; Nuno Neves. Springer, 2019. p. 1545-1550 (IFMBE Proceedings; Vol. 76).

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

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Abeywardena S, Psomopoulou E, Sani MF, Tzemanaki A, Dogramadzi S. Control of a da Vinci EndoWrist surgical instrument using a novel master controller. In Henriques J, de Carvalho P, Neves N, editors, 15th Mediterranean Conference on Medical and Biological Engineering and Computing – MEDICON 2019 - Proceedings of MEDICON 2019. Springer. 2019. p. 1545-1550. (IFMBE Proceedings). https://doi.org/10.1007/978-3-030-31635-8_191

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

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Bibliographical note

Keywords

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