Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots

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

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 proceeding › Conference 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 language	English
Title of host publication	Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018)
Pages	85-86
Number of pages	2
Publication status	Published - 11 Sept 2018
Event	CRAS 2018: 8th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery - London, United Kingdom Duration: 10 Sept 2018 → 11 Sept 2018 Conference number: 8

Conference

Conference	CRAS 2018
Country/Territory	United Kingdom
City	London
Period	10/09/18 → 11/09/18

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https://cras-eu.org/wp-content/uploads/2020/01/CRAS_2018_proceedings-1.pdf

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Sayyaddelshad, I., Psomopoulou, E., Abeywardena, S., Tzemanaki, A., & Dogramadzi, S. (2018). Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots. In Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018) (pp. 85-86) https://cras-eu.org/wp-content/uploads/2020/01/CRAS_2018_proceedings-1.pdf

@inproceedings{495cec2dd5b2481dae5cf4fad32e087a,

title = "Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots",

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.",

author = "Iman Sayyaddelshad and Efi Psomopoulou and Sajeeva Abeywardena and Antonia Tzemanaki and Sanja Dogramadzi",

year = "2018",

month = sep,

day = "11",

language = "English",

pages = "85--86",

booktitle = "Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018)",

note = "CRAS 2018 : 8th Joint Workshop on New Technologies for Computer/Robot Assisted Surgery ; Conference date: 10-09-2018 Through 11-09-2018",

}

Sayyaddelshad, I, Psomopoulou, E, Abeywardena, S, Tzemanaki, A & Dogramadzi, S 2018, Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots. in Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018). pp. 85-86, CRAS 2018, London, United Kingdom, 10/09/18. <https://cras-eu.org/wp-content/uploads/2020/01/CRAS_2018_proceedings-1.pdf>

Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots. / Sayyaddelshad, Iman; Psomopoulou, Efi; Abeywardena, Sajeeva et al.
Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018). 2018. p. 85-86.

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots

AU - Sayyaddelshad, Iman

AU - Psomopoulou, Efi

AU - Abeywardena, Sajeeva

AU - Tzemanaki, Antonia

AU - Dogramadzi, Sanja

N1 - Conference code: 8

PY - 2018/9/11

Y1 - 2018/9/11

N2 - 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.

AB - 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.

M3 - Conference Contribution (Conference Proceeding)

SP - 85

EP - 86

BT - Proceedings of the joint workshop on New Technologies for Computer/Robot Assisted Surgery (CRAS 2018)

T2 - CRAS 2018

Y2 - 10 September 2018 through 11 September 2018

ER -

Incision Port Displacement Modelling Verification in Minimally Invasive Surgical Robots

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Conference

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