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Design and Analysis of an Actuating Robot to Employ Manual Endo-Wrist Laparoscopic Instruments in a Robotic Surgery System

Moradi, Mohammad Mahdi | 2013

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 45101 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam; Hoviattalab, Maryam
  7. Abstract:
  8. This research describes the design and analysis of an actuating robot to manipulate the disposable Endo-wrist robotic surgery instruments. Analyzing the mechanism of common manual Endo-wrist instruments, it was found that the rotations of handle of the instrument are transferred to its wrist using a snake-like element and four connecting cables. Based on this observation, a 2DOF parallel actuating robot was designed to rotate the instrument handle, in which the degrees of freedom are controlled by two linear spindle motors. The Inverse kinematic analysis of the manual instrument was performed by minimizing the potential energy of cables. Also the inverse kinematic solution of the actuating robot was found to convert the rotations of the moving plate to the lengths of the spindles. The results indicate an almost linear relationship between the angles of the handle and the wrist of the instrument, which facilitates the control of the wrist angle. Also, the required course of spindles motion was within an affordable range, and each DOF could by fully controlled by a single spindle motor, with a good approximation. At the next step, the geometric dimension of robot optimized in order to minimize the spindles courses and minimize the volume of robot. By the optimized dimensions Jacobian matrix and condition number derived. Analysis of condition number in the workspace of the robot showed that this number is between 1 and 2. Maximum amount of condition number proves that robot is well-conditioned as singularity consideration. Force analysis performed by usage of Jacobian matrix and it was found out that, the spindles can easily provide the forces. Finally according to the optimized design, actuating robot has been prototyped. The result of experiments showed that robot can reach all workspace and track the predicted trajectory
  9. Keywords:
  10. Parallel Robot ; Robotic Laparascopic Instrument ; Endo Wrist Instrument Robot ; Actuating Mechanism

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