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SIMULATION AND CONTROL ENHANCEMENTS FOR THE DA VINCI SURGICAL ROBOT™

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2019, Master of Sciences, Case Western Reserve University, EECS - Computer and Information Sciences.
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.
Wyatt Newman, PhD (Committee Chair)
Frank Merat, PhD (Committee Member)
Murat Çavuşoğlu, PhD (Committee Member)
99 p.

Recommended Citations

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)