MOPS: A Modular and Open Platform for Surgical Robotics Research

Kim Lindberg Schwaner; Iñigo Iturrate; Jakob Kristian Holm Andersen; Christian Rosendahl Dam; Pernille Tine Jensen; Thiusius Rajeeth Savarimuthu

doi:10.1109/ISMR48346.2021.9661539

MOPS: A Modular and Open Platform for Surgical Robotics Research

Kim Lindberg Schwaner^*, Iñigo Iturrate, Jakob Kristian Holm Andersen, Christian Rosendahl Dam, Pernille Tine Jensen, Thiusius Rajeeth Savarimuthu

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Article in proceedings › Research › peer-review

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Abstract

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 language	English
Title of host publication	2021 International Symposium on Medical Robotics (ISMR)
Number of pages	8
Publisher	IEEE
Publication date	Nov 2021
ISBN (Electronic)	978-1-6654-0622-2
DOIs	https://doi.org/10.1109/ISMR48346.2021.9661539
Publication status	Published - Nov 2021
Event	2021 International Symposium on Medical Robotics (ISMR) - Georgia Tech, Atlanta, United States Duration: 17. Nov 2021 → 19. Nov 2021 http://www.ismr.gatech.edu/

Conference

Conference	2021 International Symposium on Medical Robotics (ISMR)
Location	Georgia Tech
Country/Territory	United States
City	Atlanta
Period	17/11/2021 → 19/11/2021
Internet address	http://www.ismr.gatech.edu/

Documents & Links

10.1109/ISMR48346.2021.9661539

Schwaner2021_MOPSAccepted manuscript, 821 KB

1 Ph.D. thesis

Autonomy for Surgical Robot Systems
Schwaner, K. L., 13. Dec 2021, Syddansk Universitet. Det Tekniske Fakultet. 189 p.
Research output: Thesis › Ph.D. thesis

Open Access
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526 Downloads (Pure)

Cite this

@inproceedings{b5f38bd898c6413f9446a7e60532c47e,

title = "MOPS: A Modular and Open Platform for Surgical Robotics Research",

abstract = "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.",

author = "Schwaner, {Kim Lindberg} and I{\~n}igo Iturrate and Andersen, {Jakob Kristian Holm} and Dam, {Christian Rosendahl} and Jensen, {Pernille Tine} and Savarimuthu, {Thiusius Rajeeth}",

year = "2021",

month = nov,

doi = "10.1109/ISMR48346.2021.9661539",

language = "English",

booktitle = "2021 International Symposium on Medical Robotics (ISMR)",

publisher = "IEEE",

address = "United States",

note = "2021 International Symposium on Medical Robotics (ISMR), ISMR 2021 ; Conference date: 17-11-2021 Through 19-11-2021",

url = "http://www.ismr.gatech.edu/",

}

TY - GEN

T1 - MOPS

T2 - 2021 International Symposium on Medical Robotics (ISMR)

AU - Schwaner, Kim Lindberg

AU - Iturrate, Iñigo

AU - Andersen, Jakob Kristian Holm

AU - Dam, Christian Rosendahl

AU - Jensen, Pernille Tine

AU - Savarimuthu, Thiusius Rajeeth

PY - 2021/11

Y1 - 2021/11

N2 - 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.

AB - 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.

U2 - 10.1109/ISMR48346.2021.9661539

DO - 10.1109/ISMR48346.2021.9661539

M3 - Article in proceedings

BT - 2021 International Symposium on Medical Robotics (ISMR)

PB - IEEE

Y2 - 17 November 2021 through 19 November 2021

ER -

MOPS: A Modular and Open Platform for Surgical Robotics Research

Abstract

Conference

Documents & Links

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Related research output

Autonomy for Surgical Robot Systems

Cite this