Control Of A Da Vinci Endowrist Surgical Instrument Using A Novel Master Controller

Sajeeva Abeywardena,Efi Psomopoulou,Mohammad Fattahi Sani,Antonia Tzemanaki,Sanja Dogramadzi

XV MEDITERRANEAN CONFERENCE ON MEDICAL AND BIOLOGICAL ENGINEERING AND COMPUTING - MEDICON 2019（2020）

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摘要

A novel master controller for robot-assisted minimally invasive surgery (RAMIS) is introduced and used to control a da Vinci EndoWrist instrument. The geometric model of the master mechanism and its mapping to the geometry of the EndoWrist tool are derived. Experimental results are conducted to open and close the jaws of an EndoWrist tool, and show that the developed mapping algorithm is accurate with a root mean square error of 0.7463 mm.

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关键词

Exoskeleton, Robot-assisted minimally invasive surgery, Geometric models, Mapping

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