MOPS: A Modular and Open Platform for Surgical Robotics Research

Kim Lindberg Schwaner,Iñigo Iturrate,Jakob Kristian Holm Andersen, Christian Rosendahl Dam,Pernille Tine Jensen,Thiusius Rajeeth Savarimuthu

2021 International Symposium on Medical Robotics (ISMR)（2021）

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摘要

MOPS is a platform for surgical robotics research. It consists of hardware and software components for building surgical robot systems based on existing robot arms. The reference system presented in this paper has two robot arms, each with an adapter for mounting and actuating different types of surgical instruments. Additionally, the system has a high-resolution stereo camera and a simple operato...

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关键词

Medical robotics,Operating systems,Machine vision,Robot vision systems,Manipulators,Hardware,Trajectory

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