Skip to Main Content
Frequently Asked Questions
Submit an ETD
Global Search Box
Need Help?
Keyword Search
Participating Institutions
Advanced Search
School Logo
Files
File List
M_THESIS_FINAL.pdf (3.05 MB)
ETD Abstract Container
Abstract Header
SIMULATION AND CONTROL ENHANCEMENTS FOR THE DA VINCI SURGICAL ROBOT™
Author Info
Shkurti, Thomas E
ORCID® Identifier
http://orcid.org/0000-0001-8540-7501
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=case1548248373927953
Abstract Details
Year and Degree
2019, Master of Sciences, Case Western Reserve University, EECS - Computer and Information Sciences.
Abstract
The da Vinci Research Kit produced by Johns Hopkins University inserts a programmable control computer into the da Vinci Surgical Unit™’s previously closed-loop teleoperative control system, allowing development of semi-automated/supervisory-controlled robotic technology to decrease operating time, surgeon fatigue, and risk of complications. However, development is still limited by the cost barriers to acquisition of hardware, low-level control interface exposed by the research kit, and a lack of standardization forcing different researchers to reinvent different versions of the same basic functionality which are not inter-compatible. In order to address these concerns, a research software package is presented capable of running atop the DVRK. It includes realistic and hardware-interoperable full-physics simulation of the robot, a standardized control interface capable of executing complex trajectories, a camera-calibration and vision system adapted to the unique constraints of surgical endoscopic cameras, and a system for managing hardware profiles for specific physical or simulated robots.
Committee
Wyatt Newman, PhD (Committee Chair)
Frank Merat, PhD (Committee Member)
Murat Çavuşoğlu, PhD (Committee Member)
Pages
99 p.
Subject Headings
Computer Science
;
Robotics
;
Robots
;
Surgery
Keywords
Surgical robotics
;
da Vinci Surgical Unit
;
Simulation
;
ROS
;
Robot Operating System
Recommended Citations
Refworks
EndNote
RIS
Mendeley
Citations
Shkurti, T. E. (2019).
SIMULATION AND CONTROL ENHANCEMENTS FOR THE DA VINCI SURGICAL ROBOT™
[Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1548248373927953
APA Style (7th edition)
Shkurti, Thomas.
SIMULATION AND CONTROL ENHANCEMENTS FOR THE DA VINCI SURGICAL ROBOT™.
2019. Case Western Reserve University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=case1548248373927953.
MLA Style (8th edition)
Shkurti, Thomas. "SIMULATION AND CONTROL ENHANCEMENTS FOR THE DA VINCI SURGICAL ROBOT™." Master's thesis, Case Western Reserve University, 2019. http://rave.ohiolink.edu/etdc/view?acc_num=case1548248373927953
Chicago Manual of Style (17th edition)
Abstract Footer
Document number:
case1548248373927953
Download Count:
1,877
Copyright Info
© 2019, some rights reserved.
SIMULATION AND CONTROL ENHANCEMENTS FOR THE DA VINCI SURGICAL ROBOT™ by Thomas E Shkurti is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 3.0 Unported License. Based on a work at etd.ohiolink.edu.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.