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Advancements in Gravity Compensation and Control for the da Vinci Surgical Robot

Ankit Shaw

TL;DR

This work addresses the need for precise gravity compensation in the da Vinci Surgical Robot by developing a dynamics-based, parametric model via the Euler-Lagrange framework. The authors derive forward kinematics with DH parameters, formulate a Lagrangian, and identify dynamic parameters using least-squares from data collected on the MTM hardware, then validate the approach in Gazebo with ros_control. A comprehensive PSM model is built to enable future research and parallel control studies. The results show improved positioning accuracy and stability with gravity compensation, including suturing error reductions and lower end-effector drift, highlighting the practical impact for robotic-assisted surgery. The study provides a solid foundation for more advanced control strategies and realistic simulation of both MTM and PSM arms in ROS/Gazebo environments.

Abstract

This research delves into the enhancement of control mechanisms for the da Vinci Surgical System, focusing on the implementation of gravity compensation and refining the modeling of the master and patient side manipulators. Leveraging the Robot Operating System (ROS) the study aimed to fortify the precision and stability of the robots movements essential for intricate surgical procedures. Through rigorous parameter identification and the Euler Lagrange approach the team successfully derived the necessary torque equations and established a robust mathematical model. Implementation of the actual robot and simulation in Gazebo highlighted the efficacy of the developed control strategies facilitating accurate positioning and minimizing drift. Additionally, the project extended its contributions by constructing a comprehensive model for the patient side manipulator laying the groundwork for future research endeavors. This work signifies a significant advancement in the pursuit of enhanced precision and user control in robotic assisted surgeries. NOTE - This work has been submitted to the IEEE for publication. Copyright may be transferred without notice, after which this version may no longer be accessible. Copyright on this article is reserved by IEEE

Advancements in Gravity Compensation and Control for the da Vinci Surgical Robot

TL;DR

This work addresses the need for precise gravity compensation in the da Vinci Surgical Robot by developing a dynamics-based, parametric model via the Euler-Lagrange framework. The authors derive forward kinematics with DH parameters, formulate a Lagrangian, and identify dynamic parameters using least-squares from data collected on the MTM hardware, then validate the approach in Gazebo with ros_control. A comprehensive PSM model is built to enable future research and parallel control studies. The results show improved positioning accuracy and stability with gravity compensation, including suturing error reductions and lower end-effector drift, highlighting the practical impact for robotic-assisted surgery. The study provides a solid foundation for more advanced control strategies and realistic simulation of both MTM and PSM arms in ROS/Gazebo environments.

Abstract

This research delves into the enhancement of control mechanisms for the da Vinci Surgical System, focusing on the implementation of gravity compensation and refining the modeling of the master and patient side manipulators. Leveraging the Robot Operating System (ROS) the study aimed to fortify the precision and stability of the robots movements essential for intricate surgical procedures. Through rigorous parameter identification and the Euler Lagrange approach the team successfully derived the necessary torque equations and established a robust mathematical model. Implementation of the actual robot and simulation in Gazebo highlighted the efficacy of the developed control strategies facilitating accurate positioning and minimizing drift. Additionally, the project extended its contributions by constructing a comprehensive model for the patient side manipulator laying the groundwork for future research endeavors. This work signifies a significant advancement in the pursuit of enhanced precision and user control in robotic assisted surgeries. NOTE - This work has been submitted to the IEEE for publication. Copyright may be transferred without notice, after which this version may no longer be accessible. Copyright on this article is reserved by IEEE
Paper Structure (22 sections, 11 equations, 8 figures, 1 table)

This paper contains 22 sections, 11 equations, 8 figures, 1 table.

Table of Contents

  1. BACKGROUND
  2. Introduction
  3. LITERATURE REVIEW
  4. Da Vinci Surgical Robot
  5. Previous Work
  6. Parameter Identification
  7. METHODOLOGY
  8. Gravity Compensation
  9. Forward Kinematics
  10. Lagrangian
  11. Euler-Lagrange Equation
  12. Setup
  13. Data Collection Issues
  14. Data Collection Strategy
  15. Regressor and Parameter Matrices
  16. ...and 7 more sections

Figures (8)

  • Figure 1: Frames assignment of master arm using DH parameters.
  • Figure 2: Hardware & Software Architecture of da Vinci Robot at WPI.
  • Figure 3: MTM arm simulated in Gazebo with all active joints shown.
  • Figure 4: Square of joint error.
  • Figure 5: Joint drift.
  • ...and 3 more figures