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DASH: A surgical robotics research platform adapting da Vinci instruments to serial-link and humanoid robots

The research team proposes DASH, a da Vinci adapter for serial-link and humanoid robots that mounts da Vinci Classic and Xi instruments onto general-purpose robots without modifying the instruments themselves. The two adapter types are compatible with robotic platforms of various load capacities, engage the instruments' native latches, and wirelessly identify inserted instruments to load the corresponding kinematics and coupling matrices. Teleoperation experiments validated the approach and its role in lowering the barrier to surgical robotics research.

Part of the event: DASH: Adapting da Vinci Instruments for General-Purpose Robots

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