# name
Da Vinci robot at Hospital Clínic. Haptic technology in robotic surgery

# metadata.dc.description[].value
Treballs Finals de Grau d'Enginyeria Biomèdica. Facultat de Medicina i Ciències de la Salut. Universitat de Barcelona. Curs: 2021-2022. Tutor/Director: Manel Puig i Vidal

# metadata.dc.description.abstract[].value
Minimally invasive surgery is growing and displacing traditional surgery. Despite
the multiple benefits it presents for the surgeon and for the patients, the surgical
robots used in these scenarios (mainly the Da Vinci robot) do not have a haptic
feedback system.
This project it is created with the main objective of equipping and providing tactile
sensitivity to an UR5e based robotic arm prototype and to adjust it as much as
possible to the operation of the DaVinci minimally invasive surgical system, using
an original EndoWrist tool too.
The project is divided into three main components: the pen user interface, the
EndoWrist maneuverability executed by the robotic arm and the servomotors;
and the communication and supervision module performed by a computer.
Obtaining the current obtained by the servomotors and applying different
formulas and filters, the force exerted on the tissue is acquired. Which is used in
the pen user interface to display the applied strength.
Finally, with several cheap components and with good communication between
the different interfaces, the UR5e robot is intended to simulate the user's
movements while giving it tactile sensitivity.

# metadata.dc.rights[].value
cc-by-nc-nd (c) Venteo Benavente, Sergio, 2022

# metadata.dc.source[].value
Treballs Finals de Grau (TFG) - Enginyeria Biomèdica

# metadata.dc.title[].value
Da Vinci robot at Hospital Clínic. Haptic technology in robotic surgery