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GBR_thesis_for_OH_link_w_committee.pdf (3.34 MB)
ETD Abstract Container
Abstract Header
Kinematic Calibration for da Vinci Surgical Robot
Author Info
Huang, Siqi
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=case1548418150820537
Abstract Details
Year and Degree
, Master of Sciences, Case Western Reserve University, EECS - Electrical Engineering.
Abstract
This thesis focuses on kinematic calibration of a da Vinci surgical robot. Accurate calibration is key to advancing robotic surgery from teleoperation to supervised autonomy. Means and data are presented for arm calibration, resulting in significantly improved accuracy. With a nominal kinematic model, positioning error of a gripper wrist was found to be 3.5mm RMS. After calibration, this error was reduced to 0.5mm RMS. In addition, dual-arm operations require a coordinate-transform calibration between the respective robot base frames. After invoking the methods presented here, dual-arm motions were accurate to within 0.7mm RMS error. Modeling, methods, data and analyses are presented.
Committee
Wyatt Newman, Dr. (Advisor)
M. Cenk Cavusoglu, Dr. (Committee Member)
Gregory S. Lee, Dr. (Committee Member)
Subject Headings
Electrical Engineering
;
Robotics
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Citations
Huang, S. (n.d.).
Kinematic Calibration for 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=case1548418150820537
APA Style (7th edition)
Huang, Siqi.
Kinematic Calibration for da Vinci Surgical Robot.
Case Western Reserve University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=case1548418150820537.
MLA Style (8th edition)
Huang, Siqi. "Kinematic Calibration for da Vinci Surgical Robot." Master's thesis, Case Western Reserve University. Accessed MARCH 28, 2024. http://rave.ohiolink.edu/etdc/view?acc_num=case1548418150820537
Chicago Manual of Style (17th edition)
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Document number:
case1548418150820537
Download Count:
4,101
Copyright Info
© , some rights reserved.
Kinematic Calibration for da Vinci Surgical Robot by Siqi Huang 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.