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 |
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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 | |
Publication status | Published - 25 Sept 2019 |
Event | 15th Mediterranean Conference on Medical and Biological Engineering and Computing (MEDICON2019) - Coimbra, Coimbra, Portugal Duration: 26 Sept 2019 → 28 Sept 2019 http://www.medicon2019.org/ |
Publication series
Name | IFMBE Proceedings |
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Volume | 76 |
ISSN (Print) | 1680-0737 |
ISSN (Electronic) | 1433-9277 |
Conference
Conference | 15th Mediterranean Conference on Medical and Biological Engineering and Computing (MEDICON2019) |
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Country/Territory | Portugal |
City | Coimbra |
Period | 26/09/19 → 28/09/19 |
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