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The da Vinci Research Kit (DVRK) is a telerobotic surgical research platform endowed with an open controller that allows position, velocity and current control. We consider the problem of modelling and identification of both the Patient Side Manipulators (PSMs) and of the Master Tool Manipulators (MTMs) of the platform. This problem is relevant when realistic dynamic simulations have to be performed...
Minimally invasive robotic surgery holds a fundamental role in modern surgery. However, one of its major limitations compared to classic laparoscopy is that the surgeon can only rely on visual perception, for the lack of haptic force feedback. A new solution for a force sensor placed at the end-tip of the trocar is presented here. This solution allows measuring the interaction forces between the surgical...
The aim of this work is to integrate a soft-rigid collision detection algorithm in the open source physics engine Bullet Physics. In surgical applications these types of collisions occur, for example, when a clamp grabs deformable organic material or a spatula opens a brain fissure. The goal is to handle the collision between the soft body (deformable organ) and the rigid body (surgical tool), assuming...
In this letter, a new sensorized flexible skin has been used to enhance safety and intuitiveness of physical human–robot interaction (HRI) in applications where both intentional and unintentional contacts may occur. The new technological contribution with respect to other skin sensors consists of the capability of measuring both the position of the contact point and the three components of the applied...
In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy...
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