Event
DASH: Adapting da Vinci Instruments for General-Purpose Robots
1 reports · 1 sources
The research team proposed DASH—a da Vinci instrument adapter for serial-arm and humanoid robots that mounts da Vinci Classic and Xi instruments onto general-purpose robots without modifying the instruments themselves. The two types of adapters are compatible with robot platforms of various payload capacities, can engage the instruments' native latches, and wirelessly identify the inserted instrument in order to load the corresponding kinematics and coupling matrices. The team states that teleoperation experiments validated the effectiveness of this approach and that it helps lower the barrier to entry for surgical robotics research.
Report timeline
- 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.
arXiv cs.RO ·