A prototyping Station has been implemented for the prototype evaluation of robotic surgical instruments.

Master-Slave system for virtual an physical prototyping of surgical instruments

The purpose of this system is to evaluate the performance of different virtual prototypes of surgical instruments using a physical teleoperated system with virtual constraints.

The master station is based on a multi-finger haptic station and the salve site is based on a two-finger robot with three-axis force measurement.

The purpose of this page is to support the submission of publications related to this new method with experimental data, videos and pictures.

Experiments data:

Download the computer-recorded data, in CSV ASCII format, of force and positions of the clinical experiments. Each file is named with the volunteer, prototype and trial numbers. Columns are: Time (milliseconds), Cartesian position of finger 1 (x,y,z), Cartesian Position of Finger 2 (x,y,z) , Force reading at finger 1 sensor(fx,fy,fz), Force reading at finger 2 sensor (fx,fy,fz),  Virtual forces (feedback) of sensors in finger 1 (fx, fy, fz) and  Virtual forces (feedback) of sensors in finger 2 (fx, fy, fz).

1-1-1 1-1-2 1-1-3 1-2-1 1-2-2 1-2-3 1-3-1 1-3-2 1-3-31-4-11-4-21-4-31-5-11-5-21-5-31-6-11-6-21-6-32-1-12-1-22-1-32-2-12-2-22-2-32-3-12-3-22-3-32-4-12-4-22-4-32-5-12-5-22-5-33-1-13-1-23-1-33-2-13-2-23-2-33-3-13-3-23-3-33-4-13-4-23-4-33-5-13-5-23-5-34-1-14-1-24-1-34-2-14-2-24-2-34-3-14-3-24-3-34-4-14-4-24-4-34-5-14-5-24-5-35-1-15-1-25-1-35-2-15-2-25-2-35-3-15-3-25-3-35-4-15-4-25-4-35-5-15-5-25-5-36-1-16-1-26-1-36-2-16-2-26-2-36-3-16-3-26-3-36-4-16-4-26-4-36-5-16-5-26-5-37-1-17-1-27-1-37-2-17-2-27-2-37-3-17-3-27-3-37-4-17-4-27-4-37-4-47-5-17-5-27-5-38-1-18-1-28-1-38-2-18-2-28-2-38-3-18-3-28-3-38-4-18-4-28-4-38-5-18-5-28-5-39-1-19-1-29-1-39-2-19-2-29-2-39-3-19-3-29-3-39-4-19-4-29-4-39-5-19-5-29-5-3

Videos

Pictures

May the force (and the torque) be with you.

At home with the Lab friends

Thank-you very much, friends!