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|
|Number of pages||2|
|Publication status||Accepted/In press - 3 Aug 2018|
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