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Dimensional synthesis and concept design of a novel minimally invasive surgical robot

Published online by Cambridge University Press:  29 January 2018

Guojun Niu ,
Bo Pan ,
Fuhai Zhang ,
Haibo Feng ,
Wenpeng Gao  and
Yili Fu
Guojun Niu
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P.R. of China E-mail: 11b908015@hit.edu.cn, zfhhit@hit.edu.cn, Fenghaibo777@163.com
Bo Pan*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P.R. of China E-mail: 11b908015@hit.edu.cn, zfhhit@hit.edu.cn, Fenghaibo777@163.com
Fuhai Zhang
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P.R. of China E-mail: 11b908015@hit.edu.cn, zfhhit@hit.edu.cn, Fenghaibo777@163.com
Haibo Feng
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P.R. of China E-mail: 11b908015@hit.edu.cn, zfhhit@hit.edu.cn, Fenghaibo777@163.com
Wenpeng Gao
Affiliation:
School of Life Science and Technology, Harbin Institute of Technology, Harbin, Heilongjiang, P.R. of China E-mail: wpgao@hit.edu.cn
Yili Fu*
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, P.R. of China E-mail: 11b908015@hit.edu.cn, zfhhit@hit.edu.cn, Fenghaibo777@163.com
*
*Corresponding authors. E-mail: mepanbo@hit.edu.cn, biorobfu@126.com
*Corresponding authors. E-mail: mepanbo@hit.edu.cn, biorobfu@126.com
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Summary

A new minimally invasive surgical (MIS) robot consisting of a spherical remote center motion (RCM) mechanism with modular design is proposed. A multi-objective dimensional synthesis model is presented to obtain the excellent performance indices. There are four objectives: a global kinematic index, a compactness index, a global comprehensive stiffness index, and a global dynamic index. Other indices characterizing the design requirement, such as workspace, mechanical parameter, and mass, are chosen as constraints. A new decoupled mechanism is raised to solve the coupled motion between the linear platform and the four degrees of freedom (DoF) of surgical instrument as a result of post-driving motors. Another new mechanical decoupled method is proposed to eliminate the coupled motion between the wrist and the forceps, enhance the dexterity of surgical instrument, and improve the independence of each motor. Then, a 7-DoF MIS robotic prototype based on optimization results has been built up. Experiment results validate the effectiveness of the two mechanical decoupled methods. The position change of the RCM point, accuracy, and repeatability of the MIS robot meet the requirements of MIS. Successful animal experiments validate the effectiveness of the novel MIS robot.

Keywords

Minimally invasive surgeryDimensional synthesisMulti-objective optimizationRCMDecoupled motion
Type
Articles
Information
Robotica , Volume 36 , Issue 5 , May 2018 , pp. 715 - 737
Copyright
Copyright © Cambridge University Press 2018 

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