Comparing the accuracy of the da Vinci Xi and da Vinci Si for image guidance and automation

James M. Ferguson, Bryn Pitt, Alan Kuntz, Josephine Granna, Nicholas L. Kavoussi, Naren Nimmagadda, Eric J. Barth, Stanley Duke Herrell, Robert J. Webster

Research output: Contribution to journalArticlepeer-review

Abstract

Background: Current laparoscopic surgical robots are teleoperated, which requires high fidelity differential motions but does not require absolute accuracy. Emerging applications, including image guidance and automation, require absolute accuracy. The absolute accuracy of the da Vinci Xi robot has not yet been characterized or compared to the Si system, which is now being phased out. This study compares the accuracy of the two. Methods: We measure robot tip positions and encoder values assessing accuracy with and without robot calibration. Results: The Si is accurate if the setup joints are not moved but loses accuracy otherwise. The Xi is always accurate. Conclusion: The Xi can achieve submillimetric average error. Calibration improves accuracy, but excellent baseline accuracy of the Xi means that calibration may not be needed for some applications. Importantly, the external tracking systems needed to account for setup joint error in the Si are no longer required with the Xi.

Original languageEnglish (US)
Pages (from-to)1-10
Number of pages10
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Volume16
Issue number6
DOIs
StatePublished - Dec 2020
Externally publishedYes

Keywords

  • image-guided surgery
  • surgical automation
  • surgical robot calibration
  • surgical robotics

ASJC Scopus subject areas

  • Surgery
  • Biophysics
  • Computer Science Applications

Fingerprint

Dive into the research topics of 'Comparing the accuracy of the da Vinci Xi and da Vinci Si for image guidance and automation'. Together they form a unique fingerprint.

Cite this