RBE MS Thesis Presentation - Tactile Feedback at the Master Tool Manipulator of the da-Vinci Surgical Robot - Abhishek Kashyap

Thursday, April 19, 2018
10:00 am to 11:00 am
Floor/Room #: 
2nd Floor, Conf. Rm #209

MS Thesis Presentation

Abhishek Kashyap

Tactile Feedback at the Master Tool Manipulator
of the da-Vinci Surgical Robot


Abstract:

Teleoperated surgical robots find use in laparoscopies by providing added dexterity to the surgeon. The da-Vinci surgical robot is a widely used tele-surgical system.  While providing 3D vision, motion scaling, and high precision, the da-Vinci platform doesn't inherently have haptic feedback incorporated.  While a dynamic model coupled with direct control of motor current allows for the implementation of the haptics, having a force sensor at the user's grip location on the Master Tool Manipulator (MTM) closes the loop to render an even more accurate haptic feedback. In this thesis, a 3-DOF optical force sensor has been developed for the MTM.  This sensor provides data on the direction and magnitude of force that the MTM exerts on the user's hands.  Simulations were used to verify the reliability of the sensor in 3-D space. Its performance was also investigated by mounting it on the actual MTM.  The sensor was found to have some amount of hysteresis which could be resolved by proper calibration in future prototypes.

 

Committee Members:
Prof. Cagdas Onal
Prof. Loris Fichera
Prof. Gregory Fischer


 

Thursday, April 19, 2018
10:00 a.m. – 11:00 a.m.
85 Prescott St., RBE 209

DEPARTMENT(S): 
Name: 
Teresa Hemple