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

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 VidalMinimally 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