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A novel compliant surgical robot: Preliminary design analysis
Akim Kapsalyamov1, Shahid Hussain2, Prashant K Jamwal1
1Department of Electrical and Computer Engineering, Nazarbayev University, Astana, Kazakhstan.
Mathematical Biosciences and Engineering : MBE
|April 3, 2020
Summary
A new compliant, seven-degrees of freedom (7-DOF) robotic surgical system for minimally invasive surgery (MIS) was designed and simulated. The system meets design requirements, paving the way for advanced surgical robots.
Area of Science:
- Robotics
- Surgical Technology
- Biomedical Engineering
Background:
- Minimally invasive surgery (MIS) requires specialized tools for precision and maneuverability.
- Existing robotic systems may lack the necessary compliance for certain surgical tasks.
Purpose of the Study:
- To propose a novel compliant robotic surgical system for MIS.
- To design a 7-DOF pneumatically actuated mechanism with a remote center of motion (RCM).
Main Methods:
- Design of a compliant, 7-DOF pneumatically actuated mechanism.
- Development of a parallelogram-based RCM for camera stabilization.
- Analysis of the robotic system's operating workspace considering mechanical constraints.
Main Results:
- The designed robotic system demonstrated compliance suitable for MIS requirements.
- The RCM mechanism was successfully developed for camera manipulation.
- Workspace analysis confirmed the system's feasibility within physical limitations.
Conclusions:
- The developed robotic surgical system meets the specified design requirements for MIS.
- This research provides a foundation for future compliant surgical robots.
- The pneumatic actuation and RCM offer potential advantages in MIS applications.
