Annals of Biomedical Engineering

, Volume 46, Issue 10, pp 1437–1449 | Cite as

Design, Modelling and Teleoperation of a 2 mm Diameter Compliant Instrument for the da Vinci Platform

  • P. FrancisEmail author
  • K. W. Eastwood
  • V. Bodani
  • T. Looi
  • J. M. Drake
Medical Robotics


This work explores the feasibility of creating and accurately controlling an instrument for robotic surgery with a 2 mm diameter and a three degree-of-freedom (DoF) wrist which is compatible with the da Vinci platform. The instrument’s wrist is composed of a two DoF bending notched-nitinol tube pattern, for which a kinematic model has been developed. A base mechanism for controlling the wrist is designed for integration with the da Vinci Research Kit. A basic teleoperation task is successfully performed using two of the miniature instruments. The performance and accuracy of the instrument suggest that creating and accurately controlling a 2 mm diameter instrument is feasible and the design and modelling proposed in this work provide a basis for future miniature instrument development.


Surgical robotics Dexterous manipulators Compliant joints Miniature instruments 

Supplementary material

Supplementary material 1 (MP4 192417 kb)


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Copyright information

© Biomedical Engineering Society 2018

Authors and Affiliations

  1. 1.Centre for Image-Guided Innovation & Therapeutic InterventionThe Hospital for Sick ChildrenTorontoCanada

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