Tissue crush injuries are more prevalent with laparoscopic surgery than open . Injuries may become more frequent in robotic surgery, because force is often only evaluated by the visual deformation of the tissue . A proposed solution by Sie et al. to mitigate these surgical errors is to create tissue-aware graspers which can be incorporated into existing surgical robots, such as the da Vinci . Stephens et al. created a tissue-aware grasper using backend sensing on a da Vinci Si tool . However, tissue identification can be further improved through properly understanding a dynamic da Vinci tool model. Therefore, instrumentation that can accurately and fully characterize existing robotic tools is needed. Various tool calibration set-ups have been created such as , which are not portable and often neglect dynamic ranges. The goal of this paper is to present a portable device that shows promise in capturing the dynamic range for da Vinci Si tools.
Design of a Portable Dynamic Calibration Instrument for daVinci Si Tools
Kong, NJ, Stephens, TK, O’Neill, JJ, & Kowalewski, TM. "Design of a Portable Dynamic Calibration Instrument for daVinci Si Tools." Proceedings of the 2017 Design of Medical Devices Conference. 2017 Design of Medical Devices Conference. Minneapolis, Minnesota, USA. April 10–13, 2017. V001T11A023. ASME. https://doi.org/10.1115/DMD2017-3519
Download citation file: