Abstract
Robotic minimally invasive surgery offers well-documented clinical benefits, but the cost and infrastructure requirements of purpose-built platforms limit access in rural and lower-resourced facilities. Recent work has teleoperated general-purpose robots for laparoscopic tasks and in vivo procedures, but relied on handheld instruments coupled through passive linkages rather than native robotic actuation. Instead, we adapt da Vinci Classic and Xi instruments onto general-purpose robots that can integrate in clinical workflows. We present DASH, a da Vinci Adapter for Serial-link and Humanoid platforms, consisting of two types of adapters that require no modification to the instruments themselves. Each adapter is compatible with many robotic platform load capacities, engages the instrument's native latch, and wirelessly identifies inserted tools to load instrument-specific kinematics and coupling matrices. Teleoperated experiments demonstrate the efficacy of DASH and its benefits for enabling research access to surgical robotic platforms.
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Publication details
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- Open access
- Green open access
Cite this article
APA 7
Wickenhiser, S., Zhou, J., Liang, Z., Peiros, L., & Yip, M. C. (2026). DASH: A da Vinci Adapter for Serial-link and Humanoid Robots as an Accessible Platform for Surgical Robotics Research. https://omanscience.com/en/articles/dash-a-da-vinci-adapter-for-serial-link-and-humanoid-robots-as-an-accessible-platform-for-surgical-robotics-research
MLA 9
Wickenhiser, Sara, et al. "DASH: A da Vinci Adapter for Serial-link and Humanoid Robots as an Accessible Platform for Surgical Robotics Research." https://omanscience.com/en/articles/dash-a-da-vinci-adapter-for-serial-link-and-humanoid-robots-as-an-accessible-platform-for-surgical-robotics-research.
Chicago (author–date)
Wickenhiser, Sara, Junrong Zhou, Zekai Liang, Lizzie Peiros, and Michael C. Yip. 2026. "DASH: A da Vinci Adapter for Serial-link and Humanoid Robots as an Accessible Platform for Surgical Robotics Research." https://omanscience.com/en/articles/dash-a-da-vinci-adapter-for-serial-link-and-humanoid-robots-as-an-accessible-platform-for-surgical-robotics-research.
Harvard
Wickenhiser, S., Zhou, J., Liang, Z., Peiros, L. and Yip, M. C. (2026) 'DASH: A da Vinci Adapter for Serial-link and Humanoid Robots as an Accessible Platform for Surgical Robotics Research', Available at: https://omanscience.com/en/articles/dash-a-da-vinci-adapter-for-serial-link-and-humanoid-robots-as-an-accessible-platform-for-surgical-robotics-research.
Vancouver
Wickenhiser S, Zhou J, Liang Z, Peiros L, Yip MC. DASH: A da Vinci Adapter for Serial-link and Humanoid Robots as an Accessible Platform for Surgical Robotics Research. https://omanscience.com/en/articles/dash-a-da-vinci-adapter-for-serial-link-and-humanoid-robots-as-an-accessible-platform-for-surgical-robotics-research
IEEE
S. Wickenhiser, J. Zhou, Z. Liang, L. Peiros, and M. C. Yip, "DASH: A da Vinci Adapter for Serial-link and Humanoid Robots as an Accessible Platform for Surgical Robotics Research," https://omanscience.com/en/articles/dash-a-da-vinci-adapter-for-serial-link-and-humanoid-robots-as-an-accessible-platform-for-surgical-robotics-research.