DaVinci-Assisted Ultrasonic Continuum Robot Navigation and Manipulation

DaVinci-Assisted Ultrasonic Continuum Robot Navigation and Manipulation
Course Project of Advanced Computer Integrated Surgery in Johns Hopkins University
Jan 2023 - Present
Group Leader, Instructor: Dr. Russel Taylor

• Designed a continuum robot navigation and manipulation system to improve reachability of DaVinci surgical robot.
• Integrated AcuNav ultrasound catheter to the DaVinci research kit with verification on phantom.
• Applied forward kinematics and ROS manipulation on redesigned DaVinci research kit.
• Implemented EM tracking system through NDI Aurora for the Acunav catheter to improve navigation accuracy.

DaVinci-assisted robot navigation and manipulation project.