MOPS: A Modular and Open Platform for Surgical Robotics Research

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MOPS is a platform for surgical robotics research. It consists of hardware and software components for building surgical robot systems based on existing robot arms. The reference system presented in this paper has two robot arms, each with an adapter for mounting and actuating different types of surgical instruments. Additionally, the system has a high-resolution stereo camera and a simple operator console with haptic devices and foot pedals for teleoperating the manipulators. Software components are based on Robot Operating System (ROS) to keep them modular and reusable for different types of hardware. We evaluate the precision of our system for vision-based tasks and demonstrate its potential for surgical task automation. The mean end-to-end error, including that of the vision system, for a trajectory following task was 1.2 mm / 0.3° for one manipulator and 2.7 mm / 0.7° for the other. MOPS software and hardware components are made available under an open-source license to encourage collaboration and facilitate the advancement of surgical robotics research.
Original languageEnglish
Title of host publication2021 International Symposium on Medical Robotics (ISMR)
Number of pages8
Publication dateNov 2021
ISBN (Electronic)978-1-6654-0622-2
Publication statusPublished - Nov 2021
Event2021 International Symposium on Medical Robotics (ISMR) - Georgia Tech, Atlanta, United States
Duration: 17. Nov 202119. Nov 2021


Conference2021 International Symposium on Medical Robotics (ISMR)
LocationGeorgia Tech
Country/TerritoryUnited States
Internet address


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