A V-REP Simulator for the da Vinci Research Kit Robotic Platform

Fontanelli, Giuseppe Andrea; Selvaggio, Mario; Ferro, Marco; Ficuciello, Fanny; Vendiuelli, M.; Siciliano, Bruno

doi:10.1109/biorob.2018.8487187

Cited by 54 publications

(32 citation statements)

References 16 publications

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“…1b). The PSM is a 6-DoFs manipulator with q s ∈ R 6 being the set of its generalized coordinates (see [18] for a detailed PSM kinematic description). An operator commands the PSM through the da Vinci Master Tool Manipulator (MTM)( Fig.…”

Section: Problem Formulationmentioning

confidence: 99%

“…Euler angles. 18) whereR c ∈ R 6×6 is the master-slave coupling rotation matrix and x c = [p T c , φ T c ] T ∈ R 6 its offset. Given x m,d we can display haptic cues on the MTM using impedance control.…”

Section: Haptic Guidancementioning

confidence: 99%

“…wherex m = x m,d − x m ∈ R 6 with x m,d given by (18), J m (q), J m,A (q) ∈ R 6×7 are MTM geometric and the analytical Jacobians, respectively, K p , K d ∈ R 6×6 are diagonal and positive-definite gain matrices to be opportunely designed and w h ∈ R 6 is the vector of the external forces applied by an interacting user. Notice that the term w h,A differs from w h by a mapping depending on the adopted orientation representation.…”

Section: Haptic Guidancementioning

confidence: 99%

“…The application of torque inputs is possible thanks to the open-source hardware and software architecture developed in [25]. The complete list of parameters used in this work The first row shows (5a-5b-5c) the effect of the joint limits occurrence during the suturing trajectory execution: the needle deviates from the desired trajectory when the fourth joint (see [18] for more information on PSM kinematics) reaches its upper limit (5c). The second row (5d-5e-5f) shows the singularity occurrence: the needle follows the path accurately but the manipulator undergoes large joint velocities (5e).…”

Section: A Experimental Setupmentioning

confidence: 99%

“…The PSM inverse kinematics is implemented using the inverse Jacobian Closed Loop Inverse Kinematics Algorithm (CLIK) [26]. The overall pipeline, is first tested in simulation using the recently developed dVRK V-REP simulator [18]. The control loop rate is fixed at 5 ms while the lower level teleoperation loop runs at 1 ms.…”

Section: A Experimental Setupmentioning

confidence: 99%

See 4 more Smart Citations

Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Selvaggio

Moccia

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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During suturing tasks performed with minimally invasive surgical robots, configuration singularities and joint limits often force surgeons to interrupt the task and regrasp the needle using dual-arm movements. This yields an increased operator's cognitive load, time-to-completion, fatigue and performance degradation. In this paper, we propose a haptic-guided shared control method for grasping the needle with the Patient Side Manipulator (PSM) of the da Vinci robot avoiding such issues. We suggest a cost function consisting of (i) the distance from robot joint limits and (ii) the task-oriented manipulability over the suturing trajectory. We evaluate the cost and its gradient on the needle grasping manifold that allows us to obtain the optimal grasping pose for joint-limit and singularity free movements of the needle during suturing. Then, we compute force cues that are applied to the Master Tool Manipulator (MTM) of the da Vinci to guide the operator towards the optimal grasp. As such, our system helps the operator to choose a grasping configuration allowing the robot to avoid joint limits and singularities during post-grasp suturing movements. We show the effectiveness of our proposed hapticguided shared control method during suturing using both simulated and real experiments. The results illustrate that our approach significantly improves the performance in terms of needle re-grasping.

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Section: Problem Formulationmentioning

confidence: 99%

Section: Haptic Guidancementioning

confidence: 99%

Section: Haptic Guidancementioning

confidence: 99%

Section: A Experimental Setupmentioning

confidence: 99%

Section: A Experimental Setupmentioning

confidence: 99%

See 3 more Smart Citations

Haptic-guided shared control for needle grasping optimization in minimally invasive robotic surgery

Selvaggio

Moccia

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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The MUSHA underactuated hand for robot‐aided minimally invasive surgery

Selvaggio

Fontanelli

Marrazzo

et al. 2019

Robotics Computer Surgery

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BackgroundKeyhole surgery is characterized by loss of dexterity of surgeon's movements because of the limited workspace, nonintuitive motor skills of the surgical systems, and loss of tactile sensation that may lead to tissue damage and bad execution of the tasks.MethodsIn this paper, a three‐fingered underactuated miniature tool for robot‐aided laparoscopic surgery is presented. The design is conceived to realize a closed‐hand configuration allowing the insertion of the tool into the abdominal cavity through the trocar in one step and to reach different grasping as well as pushing/holding configurations once in the cavity.ResultsAiming to replicate human hand dexterity and versatility, different solutions for the kinematic structure of the hand are analyzed using quality indices to evaluate the manipulability and stability of the grasp. Furthermore, a first prototype of fingertip force sensor based on fiber Bragg grating (FBG) technology has been realized and tested. The design choices of the prototype are described and discussed with the aid of experiments.ConclusionsThe whole concept and the need for such anthropomorphic tool are discussed with surgeons to highlight constraints and potentials in surgical tasks. The feedback by expert surgeons is used to provide specifications and improvements to the kinematics and mechanical design. The investigations of different designs allow identifying the optimal solution to improve grasping and manipulation capabilities. The tests on FBG sensors led to the conclusion that this technology guarantees good performance and can be a good solution for applications in surgical robotics.

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