Project Type MQP Submission date 2011-04-28 Authors Daniel Jones, dtjones@WPI.EDU, ECE Andrew Lewis, RBE URN E-project-042811-131622 Title StandAlone Surgical Haptic Arm (SASHA) Advisors Fischer, Gregory S., ME Padir, Taskin, EE Availability unrestricted
A standalone surgical arm for performing Minimally Invasive Robotic Surgery (MIRS) with standard da Vinci Si tools has been developed. Force feedback is now possible with the feedback from torque sensors used to measure the forces acting upon the tool tip. The mechanical arm and a control system capable of driving the arm and reporting force information to the user via haptic feedback has been designed and fabricated. This arm will be used as a platform for research on the performance of telesurgery as a function of various haptic mappings and artificial latencies.
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