Design and implementation of custom continuum tools

被引：0
|
作者：
Francis P. [1 ]
Eastwood K.W. [1 ]
Bodani V. [1 ]
Price K. [2 ]
Upadhyaya K. [2 ]
Podolsky D. [1 ]
Azimian H. [3 ]
Looi T. [4 ]
Drake J. [4 ]
机构：
[1] University of Toronto, Toronto, ON
[2] Boston Children's Hospital, Boston, MA
[3] Epson Canada, Markham, ON
[4] Hospital for Sick Children, Toronto, ON
来源：
IEEE Robotics and Automation Magazine | 2017年 / 24卷 / 02期
关键词：
Machine design - Degrees of freedom (mechanics) - Surgical equipment - Manipulators;
D O I：
10.1109/MRA.2017.2680547
中图分类号：
学科分类号：
摘要：
The Surgical Robot Challenge, hosted by the Hamlyn Center for Robotic Surgery at Imperial College London, offers a unique arena to propose custom instrument designs for the da Vinci platform. Members of the Center for Image Guided Innovation and Therapeutic Intervention at the Hospital for Sick Children in Toronto proposed miniature continuum-joint instrument designs for the 2015 and 2016 competitions. This article highlights the design and implementation of these custom tools with the da Vinci Research Kit (dVRK). The dVRK is such an open-source robotics platform, which has been created to promote the development of new applications and technologies for surgical robotics. The kit functions similar to a commercial da Vinci robot; through a master-slave teleoperation framework, the surgeon controls a series of seven degrees-of-freedom (7 DoF) patient-side manipulators (PSMs) via the surgeon-console manipulators.
引用
收藏
页码：24 / 33
页数：9
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