Fischer, Gregory S
Robot-assisted surgery is an alternative to conventional laparoscopic techniques. The primary commercially available system, the da Vinci, does not provide haptic feedback. The goal of this research was to develop a force sensing module capable of integrating with the da Vinci system and provide the operator with a representation of tool-tissue interaction forces. Joint torque sensors were developed and calibrated linearly (R2= 0.99). The sensor module was fit to a da Vinci system and confirming integration. Additionally, our aim was to develop a test platform for evaluating and implementing haptic feedback and telesurgery techniques. An industrial robot was fit with a spherical wrist and an embedded Linux control system allowing the surgical tool to be articulated about a remote center.
Worcester Polytechnic Institute
Major Qualifying Project
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