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.
|Title of host publication||Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018)|
|Number of pages||2|
|Publication status||Published - 11 Sep 2018|
|Event||CRAS 2018: 8th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery - London, United Kingdom|
Duration: 10 Sep 2018 → 11 Sep 2018
Conference number: 8
|Period||10/09/18 → 11/09/18|