Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots

Iman Sayyaddelshad*, Efi Psomopoulou, Sajeeva Abeywardena, 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

In a surgical robot and in order to analyse the error at the incision port, this research study aims at modelling the incision port displacement and the instrument as a single link manipulator attached to a flexible joint. Our first objective is to experimentally emulate the surgical instrument motion through a surgical trocar inserted in artificial skin in order to highlight the kinematic error that is induced due to the elasticity of the skin.
Original languageEnglish
Title of host publicationProceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018)
Pages85-86
Number of pages2
Publication statusPublished - 11 Sep 2018
EventCRAS 2018: 8th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery - London, United Kingdom
Duration: 10 Sep 201811 Sep 2018
Conference number: 8

Conference

ConferenceCRAS 2018
Country/TerritoryUnited Kingdom
CityLondon
Period10/09/1811/09/18

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