A novel compliant surgical robot: Preliminary design analysis

被引：4
|
作者：
Kapsalyamov, Akim [1 ]
Hussain, Shahid [2 ]
Jamwal, Prashant K. [1 ]
机构：
[1] Nazarbayev Univ, Dept Elect & Comp Engn, Astana, Kazakhstan
[2] Univ Canberra, Fac Sci & Technol, Human Centred Technol Res Ctr, Canberra, ACT, Australia
来源：
MATHEMATICAL BIOSCIENCES AND ENGINEERING | 2020年 / 17卷 / 03期
关键词：
medical robots; minimally invasive surgery; laparoscopic camera; remote center of motion; pneumatic actuator; MOTION CONTROL; SURGERY; SYSTEM;
D O I：
10.3934/mbe.2020103
中图分类号：
Q [生物科学];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
A robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is also developed. The operating workspace of robotic surgical system is determined considering the physical constraints imposed by mechanical joints. The simulation results show that the robotic system meets the design requirement. This research will lay a good foundation for the development of a compliant surgical robot to assist in MIS.
引用
收藏
页码：1944 / 1958
页数：15
相关论文
共 50 条
  • [1] IMPROVED SURGICAL ROBOT DESIGN USING A NOVEL COMPLIANT ROLLING CONTACT JOINT
    Nelson, Carl A.
    Dempsey, Cole A.
    Brush, Ethan R.
    Laribi, M. Amine
    [J]. PROCEEDINGS OF THE ASME INTERNATIONAL DESIGN ENGINEERING TECHNICAL CONFERENCES AND COMPUTERS AND INFORMATION IN ENGINEERING CONFERENCE, 2019, VOL 5B, 2020,
  • [2] A Novel Design of Grasper for the Interventional Surgical Robot
    Guo, Shuxiang
    Yang, Cheng
    Bao, Xianqiang
    Xiao, Nan
    [J]. 2017 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA), 2017, : 469 - 473
  • [3] DESIGN OF A FLEXURE-BASED COMPLIANT GRASPER FOR THE MASTER ARM OF A SURGICAL ROBOT
    Chandrasekaran, Karthik
    Somayaji, Adarsh
    Thondiyath, Asokan
    [J]. PROCEEDINGS OF THE 2021 DESIGN OF MEDICAL DEVICES CONFERENCE (DMD2021), 2021,
  • [4] Design of a Novel Compliant Safe Robot Joint With Multiple Working States
    Wang, Zerui
    Yip, Hiu Man
    Navarro-Alarcon, David
    Li, Peng
    Liu, Yun-hui
    Sun, Dong
    Wang, Hesheng
    Cheung, Tak Hong
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2016, 21 (02) : 1193 - 1198
  • [5] Design and Implementation of a Novel Robot Fish with Active and Compliant Propulsion Mechanism
    Zhong, Yong
    Du, Ruxu
    [J]. ROBOTICS: SCIENCE AND SYSTEMS XII, 2016,
  • [6] Design and Analysis of a Magnetically Actuated and Compliant Capsule Endoscopic Robot
    Yim, Sehyuk
    Sitti, Metin
    [J]. 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2011,
  • [7] Preliminary design and testing of a novel robot design for metal finishing applications
    Somes, SD
    Dohring, ME
    Newman, WS
    [J]. 2005 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-4, 2005, : 3294 - 3299
  • [8] A New Design and Analysis of Compliant Spine Mechanism for Caterpillar Climbing Robot
    Wang Wei
    Xie Dawei
    [J]. 2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012), 2012,
  • [9] Design and analysis of a multi-DOF compliant gait rehabilitation robot
    Jin, Yinan
    Jamwal, Prashant K. K.
    Goecke, Roland
    Ghayesh, Mergen H. H.
    Hussain, Shahid
    [J]. MECHANICS BASED DESIGN OF STRUCTURES AND MACHINES, 2024, 52 (07) : 4009 - 4034
  • [10] Design and Analysis of a Compliant Elbow-joint for Arm Rehabilitation Robot
    Zhang, Jianbin
    Li, Xiaofeng
    Liu, Jingmeng
    Chen, Weihai
    [J]. PROCEEDINGS OF THE 2018 13TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA 2018), 2018, : 2321 - 2326
12345