A standalone surgical arm for performing Minimally Invasive Robotic Surgery (MIRS) with standard da Vinci Si tools has been developed. Force feedback is now possible with the feedback from torque sensors used to measure the forces acting upon the tool tip. The mechanical arm and a control system capable of driving the arm and reporting force information to the user via haptic feedback has been designed and fabricated. This arm will be used as a platform for research on the performance of telesurgery as a function of various haptic mappings and artificial latencies.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Jones, Daniel Tice
• Lewis, Andrew Walker

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042811-131622

Advisor

• Fischer, Gregory S.
• Padir, Taskin

Year

• 2011

Date created

• 2011-04-28

Resource type

• Major Qualifying Project

Major

• Electrical & Computer Engineering
• Robotics Engineering

Rights statement

• In Copyright