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Design and Fabrication of a 4DOF Robotic Arm for Tool Manipulation in Remote Surgery

Alamdar, Alireza | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41582 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Durali, Mohammad; Farahmand, Farzam
  7. Abstract:
  8. The aim of this project was to design, analyze and fabricate a 4 DOF robotic arm to be used as a slave robot for tool handling in laparoscopic surgery. The mechanism used for this purpose should have a remote center of motion in order to be able to manipulate the tool through the small incision point. The robot should also provide sufficient force to handle endoscopic tools used for large organ manipulation and be capable of measuring these forces. A variety of mechanisms were studied thoroughly, and the best solution was chosen by considering the design parameters such as workspace, manipulability, accuracy, ease of fabrication, etc. The final design consists of a 2 DOF serial spherical mechanism for the yaw and pitch motion, a ball-screw mechanism for the linear motion, and a time pulley mechanism for the roll motion. The forward and inverse kinematic of the robot were solved, and by using particle swarm optimization method, the maximum kinematic and dynamic performance for the spherical mechanism was determined. Kinematic manipulability, dynamic isotropy, and link lengths were the three cost functions considered in the optimization process. The optimized parameters included the angle between the first arm and horizontal plane, the link angles of the spherical mechanism, and the radius of the links. The final values of these parameters were 29˚, 52˚, 55˚, and 195mm respectively. The system is now under fabrication to be subjected to experimental examination in near future
  9. Keywords:
  10. Laparoscopic Surgery ; Robotic Surgery ; Particles Swarm Optimization (PSO) ; Remote Center of Motion Mechanism

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