Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots

Iman Sayyaddelshad, Efi Psomopoulou, Sajeeva Abeywardena, Antonia Tzemanaki, Sanja Dogramadzi

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
Pages85-86
Number of pages2
Volume8
Publication statusAccepted/In press - 3 Aug 2018

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    Sayyaddelshad, I., Psomopoulou, E., Abeywardena, S., Tzemanaki, A., & Dogramadzi, S. (Accepted/In press). Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots. In Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (Vol. 8, pp. 85-86) https://www.cras-eu.org/past%20events/cras-2018-pages.html