Loading...

Design and Implementation of an Activation Mechanism for Wristed Laparoscopic Instruments at Sina Robotic Surgery System

Hanifeh, Shahrzad | 2016

561 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 48518 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam
  7. Abstract:
  8. Sina surgical system is a telesurgery robotic system which is capable of using the conventional laparoscopic tools. In order to provide the wrist degree of freedom and increase the surgical maneuverability, a mechanism is introduced here which enables Sina to use and activate the wristed laparoscopic instrument Laparo-Angle. At first, the kinematics and dynamics characteristics of Laparo-Angle were identified experimentally. This tool contains 4 degrees of freedom, pitch, yaw, grasp and distal Roll. Activation of pitch and Yaw degrees of freedom requires a mechanism which at least has two rotational degrees of freedom to move the tool handle in a cone shape workspace with an apex angle of 36 degree. Then, the design considerations of the activation mechanism including compatibility with the tool and the host robotic arm, ease of tool replacement, etc. were studied and a conceptual design based on the Agile Eye mechanism, was proposed. The forward and inverse kinematic analysis of the proposed mechanism revealed that it is capable of providing the desired workspace while meeting the design considerations. In the workspace of the mechanism both the isotropy and manipulability indices were satisfying. The condition number and the Jacobean determinant of the mechanism within its workspace were lower than 4.07 and higher than 1 respectively. Afterwards, the force analysis of the mechanism has been done, based on which detailed design and fabrication of the mechanism has been carried out. It was concluded that the proposed mechanism has the efficacy of adding a wrist degree of freedom to the Sina surgical system
  9. Keywords:
  10. Actuating Mechanism ; Laparoscopic Surgery ; Robotic Telesurgery ; Sina Robotic Surgical ; Wristed Laparoscopic Instraments ; Laparo-Angle Instruments

 Digital Object List

 Bookmark

No TOC