Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery

SIMULATION ◽  
2019 ◽  
Vol 95 (11) ◽  
pp. 1015-1025 ◽  
Author(s):  
Roman Trochimczuk ◽  
Andrzej Łukaszewicz ◽  
Tadeusz Mikołajczyk ◽  
Francesco Aggogeri ◽  
Alberto Borboni
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Numerical Study ◽  
Kinematic Chain ◽  
Robot Arm ◽  
End Effector ◽  
Stiffness Analysis ◽  
Position Accuracy ◽  
Main Factors

This paper presents the concept of a novel telemanipulator for minimally invasive surgery, along with numerical analysis to validate the main system performance. The proposed kinematic structure consists of a passive and an active module. The passive module is similar to the Selective Compliance Assembly Robot Arm - SCARA robot. The active module is based on a parallelogram mechanism. The results of the numerical study are discussed, focusing on the influence of geometry parameters of the kinematic chain on the displacement accuracy of the end-effector. In particular, the paper deals with the identification of the main factors that impact the position accuracy of the robot.

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Dynamic Modeling of an Innovative Piezoelectric Actuator for Minimally Invasive Surgery

1999 ◽  
Author(s):  
Benjamin Edinger ◽  
Mary Frecker ◽  
John Gardner
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Dynamic Model ◽  
Invasive Surgery ◽  
Force Measurement ◽  
Equations Of Motion ◽  
Measurement Model ◽  
End Effector ◽  
Simulation Results ◽  
Optimal Driving

Abstract A small piezoelectric inchworm actuator has been designed for use with a monolithic compliant end-effector in minimally invasive surgery procedures. A dynamic model of the inchworm actuator has been developed using SIMULINK. Utilizing the equations of motion for the inchworm actuator, the dynamic characteristics of the piezoelectric stack material, and the known compliance of the gripper, a force measurement model has been developed which extracts resisting force information from the piezoelectric signal. The focus of this paper is on the development of the dynamic model and the results of a simulation study that will be used to develop optimal driving signals for the inchworm actuator. Simulation results include the predicted displacement capabilities and settling time of the inchworm actuator over a range of driving frequencies.

A Mechanism for Dexterous End-Effector Placement During Minimally Invasive Surgery

1999 ◽  
Vol 121 (4) ◽  
pp. 472-479 ◽  
Author(s):  
M. Minor ◽  
R. Mukherjee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Stainless Steels ◽  
Load Capacity ◽  
High Strength ◽  
End Effector ◽  
Link Structure ◽  
Support Tube ◽  
Small Force

Presented here is the design of a mechanism for dexterous placement of an end-effector during minimally invasive surgery. A literature review is presented to show that capabilities of the mechanism are unavailable in current instrumentation. Apart from actuation of the end-effector, our mechanism provides 180° bi-directional articulation relative to the support tube and rotation of the end-effector about the articulated axis. These are accomplished via a compact multi-link structure comprised of gears and gear-links that provide excellent stiffness, load capacity and durability. The structure is optimized to have a large and dexterous workspace, low backlash, and small force magnification. Maximization of load capacity and durability of the complete mechanism is achieved by the use of high strength stainless steels, gears with 25° pressure angles to accommodate larger sized teeth, optimized gear pack thicknesses to distribute stresses evenly, and a compact forceps design to reduce tip length. Resistance to pitting is improved by alternating materials and/or hardness of materials between mating parts. The instrument is capable of supporting 4.5 N needle tip loads with infinite life expectancy and loads up to 8.7 N intermittently.

Kinematics and synthesis of a type of mechanisms with multiple remote centers of motion

2014 ◽  
Vol 228 (18) ◽  
pp. 3430-3440 ◽  
Author(s):  
Guochao Bai ◽  
Duanling Li ◽  
Shimin Wei ◽  
Qizheng Liao
Keyword(s):  
Fixed Point ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Synthesis Method ◽  
Kinematic Chain ◽  
Initial Condition ◽  
Kinetic Characteristics ◽  
New Type ◽  
The Relationship

Remote center of motion (RCM) mechanism, widely used as a wrist of minimally invasive surgery robot, is a kind of minor-mobility mechanism with part of it rotating around a fixed point distal from it. However, there is no physical revolute joint at that point. In this paper, kinematics of mechanisms with two remote centers of motion or multiple remote centers of motion (multi-RCM) are researched. The relationship between geometrics and kinetic characteristics of RCM mechanisms is found. Mechanisms with multi-loop kinematic chain are developed and are used to synthesize multiple RCM mechanisms. This type of dimension synthesis method proposed to design multi-RCM mechanisms just needs the initial condition of fixed positions of the frame and remote centers. A synthesis example and a potential application are presented. The synthesis method of multi-RCM mechanisms is effective in constructing new type of mechanisms.

Design and modeling of a novel robotic arm with multiple-segment joints

2018 ◽  
Vol 233 (11) ◽  
pp. 3827-3836
Author(s):  
Hangfei Zhou ◽  
Zhuang Fu ◽  
Jian Fei ◽  
Zhen Yang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Degrees Of Freedom ◽  
Single Port ◽  
Robotic Arm ◽  
Kinematic Modeling ◽  
End Effector

This paper presents a novel miniature robotic arm with four degrees of freedom and one end-effector. The two joints of the robotic arm are multiple-segment, which consist of several serial plates with tiny cavities. Kinematic modeling of the robotic arm has been completed for subsequent implementation. With multiple-segment joints, the robotic arm gets smooth, linear, and flexible property. Simulations and experiments show that the robot can be used in abdominal single-port minimally invasive surgery for its unique operation capability.

Modeling of an Electroactive Steerable End-Effector for Minimally Invasive Surgery

2001 ◽  
Author(s):  
William M. Aguilera ◽  
Mary I. Frecker ◽  
Randy Haluck
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Electric Field ◽  
Invasive Surgery ◽  
Piezoelectric Ceramic ◽  
Degrees Of Freedom ◽  
Active Material ◽  
Large Deflections ◽  
End Effector ◽  
In Series

Abstract A model has been developed to design a new active, steerable end-effector for minimally invasive surgery. Active material is incorporated into the surgical instrument to increase the degrees of freedom available to the surgeon. This paper focuses on the modeling of the end-effector using both piezoelectric ceramic and electroactive polymer (EAP) materials. The end-effector design consists of a number of bimorph actuator sections in series with each active layer being individually controlled. Each section may behave as either a bimorph or a unimorph actuator, where in the case of unimorph one of the active layers is passive. By varying the strength and direction of the electric field across each section, a prescribed overall shape can be achieved to allow the user to steer the device. The piezoceramic device is modeled using strain energy methods to predict the quasi-static force-deflection behavior. In the EAP model, experimental data for the electrostrictive P(VDF-TrFE) copolymer is used to model the non-linear relationship between the electric field and the induced strain. Due to the large deflections achievable with the EAP, a model for large deflections beams is also used. Modeling is carried out using MATLAB and then the behavior of piezoelectric ceramic is compared to that of electro-active polymer (EAP).

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