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Implementation of a Wristed Haptic Master for “Sina” Surgery Robot and Assessment of its Effectiveness in Performing a Surgery Task

Aghasizade Shaarbaf, Mahdie | 2018

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 51869 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam
  7. Abstract:
  8. The Sina robotic surgery setup has been designed and fabricated to simplify the laparoscopic surgery. The second generation of this robot has been designed in order of master and slave by focusing on using surgical wristed laparoscopic tools and utilizing haptic master. The master consists of two distinct mechanism of seven degrees of freedom. The first three degrees are considered for positioning, three of them for direction and one of them is considered for catching the tissue. The first six degrees of freedom (those for movement of haptic) are considered in this research.
    To do this, first of all, the cinematic and dynamic relations of the leader mechanism have been derived. Next, the mechanism has been calibrated in three different steps, positions calibration by two degrees of freedom, the total position calibration, and the total force calibration. The position and force calibration showed the error of less than 1mm in the evaluation of the position of the tool and the error less than 0.01N in the force applied to the hand of the user. Both errors are acceptable in clinical applications. In the third phase of the project, the leader haptic setup tests were done by two experiment of tissue stretch and impact with tissue wall. Both experiments are very useful in surgical operations. Implementation of this two experiment showed a reliable master to hand signal transmission with an acceptable accuracy so that, this setup could be used for surgical applications
  9. Keywords:
  10. Minimaly Invasive Surgery (MIS) ; Haptic Master ; Sina Robotic Surgical ; Laparoscopic Surgery ; Master-Slave Manipulator

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