A Linear Base Articulated Robot Arm for Surgical Endoscopy
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Date
2006-05-18
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Abstract
This project involved developing a surgical robot assistant using an articulated robot running on a linear axis. The research concentrated on studying the localization of an endoscopic tool. The kinematics involved in this type situation requires that a constant point in space (trocar point) is maintained along a rigid tool while repositioning the manipulator. Results show that the localization algorithm and interactive interface developed is capable of using this unique robot configuration to perform the desired task. For this system, error was used as the performance metric. Positioning of the endoscopic manipulator relative to the world coordinate frame was possible to within 0.05 inch. Error in maintaining a constant point in space is evident during repositioning however this was caused by limitations in the robot arm.
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Keywords
daVinci, Trocar, Laparoscopy, Laparoscopic, Robot, Surgical, Localization, Endoscopic, Endoscopy
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Degree
MS
Discipline
Electrical Engineering