Title |
Design, Modelling and Teleoperation of a 2 mm Diameter Compliant Instrument for the da Vinci Platform
|
---|---|
Published in |
Annals of Biomedical Engineering, May 2018
|
DOI | 10.1007/s10439-018-2036-4 |
Pubmed ID | |
Authors |
P. Francis, K. W. Eastwood, V. Bodani, T. Looi, J. M. Drake |
Abstract |
This work explores the feasibility of creating and accurately controlling an instrument for robotic surgery with a 2 mm diameter and a three degree-of-freedom (DoF) wrist which is compatible with the da Vinci platform. The instrument's wrist is composed of a two DoF bending notched-nitinol tube pattern, for which a kinematic model has been developed. A base mechanism for controlling the wrist is designed for integration with the da Vinci Research Kit. A basic teleoperation task is successfully performed using two of the miniature instruments. The performance and accuracy of the instrument suggest that creating and accurately controlling a 2 mm diameter instrument is feasible and the design and modelling proposed in this work provide a basis for future miniature instrument development. |
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Country | Count | As % |
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United States | 1 | 20% |
United Kingdom | 1 | 20% |
Australia | 1 | 20% |
Unknown | 2 | 40% |
Demographic breakdown
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Science communicators (journalists, bloggers, editors) | 2 | 40% |
Members of the public | 2 | 40% |
Scientists | 1 | 20% |
Mendeley readers
Geographical breakdown
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Unknown | 39 | 100% |
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Student > Bachelor | 7 | 18% |
Student > Ph. D. Student | 6 | 15% |
Student > Master | 4 | 10% |
Lecturer | 2 | 5% |
Student > Postgraduate | 2 | 5% |
Other | 4 | 10% |
Unknown | 14 | 36% |
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Medicine and Dentistry | 3 | 8% |
Computer Science | 2 | 5% |
Arts and Humanities | 1 | 3% |
Nursing and Health Professions | 1 | 3% |
Other | 2 | 5% |
Unknown | 15 | 38% |