Design and implementation of a wireless instrument adapter

Kaori V. Laino, Thore Saathoff, Thiusius R. Savarimuthu, Kim Lindberg Schwaner, Nils Gessert, Alexander Schlaefer

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

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Resumé

The evaluation of new methods for control and manipulation in minimally invasive robotic surgery requires a realistic setup. To decouple the evaluation of methods from overall clinical systems, we propose an instrument adapter for the S line EndoWrist\c{opyright} instruments of the da Vinci surgical system. The adapter is small and lightweight and can be mounted to any robot to mimic motion. We describe its design and implementation, as well as a setup to calibrate instruments to study precise motion control. Our results indicate that each instrument requires individual calibration. The calibration shows that the system is not fully linear. The repeatability of poses in the same sense of rotation has an RMSE of 0.27{\deg}/ and a standard deviation below 0.3{\deg} for pitching and 4.7{\deg} for yawing averaged over three measurements. When comparing the same poses in clockwise and counter-clockwise direction the RMSE is 12.8{\deg} and 5.7{\deg} for pitching and yawing, respectively. This is likely due to motor hysteresis.
OriginalsprogEngelsk
Publikationsdato16. apr. 2018
StatusUdgivet - 16. apr. 2018
Begivenhed16. Jahrestagung der
Deutschen Gesellschaft für
Computer- und
Roboterassistierte
Chirurgie
- Hannover, Tyskland
Varighed: 5. okt. 20177. okt. 2017

Konference

Konference16. Jahrestagung der
Deutschen Gesellschaft für
Computer- und
Roboterassistierte
Chirurgie
LandTyskland
ByHannover
Periode05/10/201707/10/2017

Emneord

  • Robot
  • Kirurgi

Citer dette

Laino, K. V., Saathoff, T., Savarimuthu, T. R., Schwaner, K. L., Gessert, N., & Schlaefer, A. (2018). Design and implementation of a wireless instrument adapter. Afhandling præsenteret på 16. Jahrestagung der
Deutschen Gesellschaft für
Computer- und
Roboterassistierte
Chirurgie, Hannover, Tyskland.
Laino, Kaori V. ; Saathoff, Thore ; Savarimuthu, Thiusius R. ; Schwaner, Kim Lindberg ; Gessert, Nils ; Schlaefer, Alexander. / Design and implementation of a wireless instrument adapter. Afhandling præsenteret på 16. Jahrestagung der
Deutschen Gesellschaft für
Computer- und
Roboterassistierte
Chirurgie, Hannover, Tyskland.
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title = "Design and implementation of a wireless instrument adapter",
abstract = "The evaluation of new methods for control and manipulation in minimally invasive robotic surgery requires a realistic setup. To decouple the evaluation of methods from overall clinical systems, we propose an instrument adapter for the S line EndoWrist\c{opyright} instruments of the da Vinci surgical system. The adapter is small and lightweight and can be mounted to any robot to mimic motion. We describe its design and implementation, as well as a setup to calibrate instruments to study precise motion control. Our results indicate that each instrument requires individual calibration. The calibration shows that the system is not fully linear. The repeatability of poses in the same sense of rotation has an RMSE of 0.27{\deg}/ and a standard deviation below 0.3{\deg} for pitching and 4.7{\deg} for yawing averaged over three measurements. When comparing the same poses in clockwise and counter-clockwise direction the RMSE is 12.8{\deg} and 5.7{\deg} for pitching and yawing, respectively. This is likely due to motor hysteresis.",
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author = "Laino, {Kaori V.} and Thore Saathoff and Savarimuthu, {Thiusius R.} and Schwaner, {Kim Lindberg} and Nils Gessert and Alexander Schlaefer",
note = "Published at CURAC 2017; 16. Jahrestagung der<br/>Deutschen Gesellschaft f{\"u}r<br/>Computer- und<br/>Roboterassistierte<br/>Chirurgie, CURAC 2017 ; Conference date: 05-10-2017 Through 07-10-2017",
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Laino, KV, Saathoff, T, Savarimuthu, TR, Schwaner, KL, Gessert, N & Schlaefer, A 2018, 'Design and implementation of a wireless instrument adapter' Paper fremlagt ved 16. Jahrestagung der
Deutschen Gesellschaft für
Computer- und
Roboterassistierte
Chirurgie, Hannover, Tyskland, 05/10/2017 - 07/10/2017, .

Design and implementation of a wireless instrument adapter. / Laino, Kaori V.; Saathoff, Thore; Savarimuthu, Thiusius R.; Schwaner, Kim Lindberg; Gessert, Nils; Schlaefer, Alexander.

2018. Afhandling præsenteret på 16. Jahrestagung der
Deutschen Gesellschaft für
Computer- und
Roboterassistierte
Chirurgie, Hannover, Tyskland.

Publikation: Konferencebidrag uden forlag/tidsskriftPaperForskningpeer review

TY - CONF

T1 - Design and implementation of a wireless instrument adapter

AU - Laino, Kaori V.

AU - Saathoff, Thore

AU - Savarimuthu, Thiusius R.

AU - Schwaner, Kim Lindberg

AU - Gessert, Nils

AU - Schlaefer, Alexander

N1 - Published at CURAC 2017

PY - 2018/4/16

Y1 - 2018/4/16

N2 - The evaluation of new methods for control and manipulation in minimally invasive robotic surgery requires a realistic setup. To decouple the evaluation of methods from overall clinical systems, we propose an instrument adapter for the S line EndoWrist\c{opyright} instruments of the da Vinci surgical system. The adapter is small and lightweight and can be mounted to any robot to mimic motion. We describe its design and implementation, as well as a setup to calibrate instruments to study precise motion control. Our results indicate that each instrument requires individual calibration. The calibration shows that the system is not fully linear. The repeatability of poses in the same sense of rotation has an RMSE of 0.27{\deg}/ and a standard deviation below 0.3{\deg} for pitching and 4.7{\deg} for yawing averaged over three measurements. When comparing the same poses in clockwise and counter-clockwise direction the RMSE is 12.8{\deg} and 5.7{\deg} for pitching and yawing, respectively. This is likely due to motor hysteresis.

AB - The evaluation of new methods for control and manipulation in minimally invasive robotic surgery requires a realistic setup. To decouple the evaluation of methods from overall clinical systems, we propose an instrument adapter for the S line EndoWrist\c{opyright} instruments of the da Vinci surgical system. The adapter is small and lightweight and can be mounted to any robot to mimic motion. We describe its design and implementation, as well as a setup to calibrate instruments to study precise motion control. Our results indicate that each instrument requires individual calibration. The calibration shows that the system is not fully linear. The repeatability of poses in the same sense of rotation has an RMSE of 0.27{\deg}/ and a standard deviation below 0.3{\deg} for pitching and 4.7{\deg} for yawing averaged over three measurements. When comparing the same poses in clockwise and counter-clockwise direction the RMSE is 12.8{\deg} and 5.7{\deg} for pitching and yawing, respectively. This is likely due to motor hysteresis.

KW - Robot

KW - Kirurgi

M3 - Paper

ER -

Laino KV, Saathoff T, Savarimuthu TR, Schwaner KL, Gessert N, Schlaefer A. Design and implementation of a wireless instrument adapter. 2018. Afhandling præsenteret på 16. Jahrestagung der
Deutschen Gesellschaft für
Computer- und
Roboterassistierte
Chirurgie, Hannover, Tyskland.