Faculty Advisor

Fischer, Gregory S.

Faculty Advisor

Padir, Taskin

Abstract

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.

Publisher

Worcester Polytechnic Institute

Date Accepted

April 2011

Major

Electrical and Computer Engineering

Major

Robotics Engineering

Project Type

Major Qualifying Project

Accessibility

Unrestricted

Advisor Department

Mechanical Engineering

Advisor Department

Electrical and Computer Engineering

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