Kinesthetic mapping of RoSS: Robotic surgical simulator using inverse kinematics
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This thesis includes the kinesthetic replication of a Robotic surgical simulator (RoSS) for the daVinci surgical system (DVSS) to preserve the kinesthetics of working with the actual DVSS master controller. It demonstrates the kinesthetic mapping of RoSS console with DVSS master and DVSS master with DVSS Slave using DH parameterization and the motion are controlled using inverse kinematics. It also describes the integration of inverse kinematics algorithm in RoSS Simulator.