5 papers
Towards Dynamic Model Identification and Gravity Compensation for the dVRK-Si Patient Side Manipulator
Haoying Zhou, Hao Yang, Brendan Burkhart +5
The da Vinci Research Kit (dVRK) is widely used for research in robot-assisted surgery, but most modeling and control methods target the first-generation dVRK Classic. The recently…
Fabrication and Characterization of Additively Manufactured Stretchable Strain Sensors Towards the Shape Sensing of Continuum Robots
Daniel C. Moyer, Wenpeng Wang, Logan S. Karschner +2
This letter describes the manufacturing and experimental characterization of novel stretchable strain sensors for continuum robots. The overarching goal of this research is to prov…
Gravity Compensation of the dVRK-Si Patient Side Manipulator based on Dynamic Model Identification
Haoying Zhou, Hao Yang, Anton Deguet +3
The da Vinci Research Kit (dVRK, also known as dVRK Classic) is an open-source teleoperated surgical robotic system whose hardware is obtained from the first generation da Vinci Su…
Towards a Physics Engine to Simulate Robotic Laser Surgery: Finite Element Modeling of Thermal Laser-Tissue Interactions
Nicholas E. Pacheco, Kang Zhang, Ashley S. Reyes +3
This paper presents a computational model, based on the Finite Element Method (FEM), that simulates the thermal response of laser-irradiated tissue. This model addresses a gap in t…
A Starter's Kit for Concentric Tube Robots
Kalina Bonofiglio, Wenpeng Wang, Ethan R. Wilke +2
Concentric Tube Robots (CTRs) have garnered significant interest within the surgical robotics community because of their flexibility, dexterity, and ease of miniaturization. Howeve…