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Kinematic Calibration for da Vinci Surgical Robot

Abstract Details

, Master of Sciences, Case Western Reserve University, EECS - Electrical Engineering.
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.
Wyatt Newman, Dr. (Advisor)
M. Cenk Cavusoglu, Dr. (Committee Member)
Gregory S. Lee, Dr. (Committee Member)

Recommended Citations

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)