Title page for E-project-042811-131622

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

Abstract
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.

Files
StandAlone_Surgical_Haptic_Arm_MQP_Final_Report.pdf

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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
Abstract 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.
Files	StandAlone_Surgical_Haptic_Arm_MQP_Final_Report.pdf