Effects of Grasp Frequency on the Dynamics of a Robotic Surgical Grasper1

Brown, Mark J. F.; Stephens, Trevor K.; O’Neill, J. J.; Kowalewski, Timothy M.

doi:10.1115/1.4033844

Cited by 1 publication

(1 citation statement)

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“…Therefore, instrumentation that can accurately and fully characterize existing robotic tools is needed. Various tool calibration set-ups have been created such as [5], which are not portable and often neglect dynamic ranges. The goal of this paper is to present a portable device that shows promise in capturing the dynamic range for da Vinci Si tools.…”

Section: Introductionmentioning

confidence: 99%

Design of a Portable Dynamic Calibration Instrument for daVinci Si Tools

Kong

Stephens

O’Neill

et al. 2017

2017 Design of Medical Devices Conference

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Tissue crush injuries are more prevalent with laparoscopic surgery than open [1]. Injuries may become more frequent in robotic surgery, because force is often only evaluated by the visual deformation of the tissue [2]. A proposed solution by Sie et al. to mitigate these surgical errors is to create tissue-aware graspers which can be incorporated into existing surgical robots, such as the da Vinci [3]. Stephens et al. created a tissue-aware grasper using backend sensing on a da Vinci Si tool [4]. However, tissue identification can be further improved through properly understanding a dynamic da Vinci tool model. Therefore, instrumentation that can accurately and fully characterize existing robotic tools is needed. Various tool calibration set-ups have been created such as [5], which are not portable and often neglect dynamic ranges. The goal of this paper is to present a portable device that shows promise in capturing the dynamic range for da Vinci Si tools.

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Section: Introductionmentioning

confidence: 99%