| Title |
Design, Modelling and Teleoperation of a 2 mm Diameter Compliant Instrument for the da Vinci Platform
|
|---|---|
| Published in |
Annals of Biomedical Engineering, May 2018
|
| DOI | 10.1007/s10439-018-2036-4 |
| Pubmed ID | |
| Authors |
P. Francis, K. W. Eastwood, V. Bodani, T. Looi, J. M. Drake |
| Abstract |
This work explores the feasibility of creating and accurately controlling an instrument for robotic surgery with a 2 mm diameter and a three degree-of-freedom (DoF) wrist which is compatible with the da Vinci platform. The instrument's wrist is composed of a two DoF bending notched-nitinol tube pattern, for which a kinematic model has been developed. A base mechanism for controlling the wrist is designed for integration with the da Vinci Research Kit. A basic teleoperation task is successfully performed using two of the miniature instruments. The performance and accuracy of the instrument suggest that creating and accurately controlling a 2 mm diameter instrument is feasible and the design and modelling proposed in this work provide a basis for future miniature instrument development. |
X Demographics
The data shown below were collected from the profiles of 5 X users who shared this research output. Click here to find out more about how the information was compiled.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| United States | 1 | 20% |
| United Kingdom | 1 | 20% |
| Australia | 1 | 20% |
| Unknown | 2 | 40% |
Demographic breakdown
| Type | Count | As % |
|---|---|---|
| Science communicators (journalists, bloggers, editors) | 2 | 40% |
| Members of the public | 2 | 40% |
| Scientists | 1 | 20% |
Mendeley readers
The data shown below were compiled from readership statistics for 39 Mendeley readers of this research output. Click here to see the associated Mendeley record.
Geographical breakdown
| Country | Count | As % |
|---|---|---|
| Unknown | 39 | 100% |
Demographic breakdown
| Readers by professional status | Count | As % |
|---|---|---|
| Student > Bachelor | 7 | 18% |
| Student > Ph. D. Student | 6 | 15% |
| Student > Master | 4 | 10% |
| Lecturer | 2 | 5% |
| Student > Postgraduate | 2 | 5% |
| Other | 4 | 10% |
| Unknown | 14 | 36% |
| Readers by discipline | Count | As % |
|---|---|---|
| Engineering | 15 | 38% |
| Medicine and Dentistry | 3 | 8% |
| Computer Science | 2 | 5% |
| Arts and Humanities | 1 | 3% |
| Nursing and Health Professions | 1 | 3% |
| Other | 2 | 5% |
| Unknown | 15 | 38% |