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[188] Citation: Abstract
Recent advances in technology have led to the fusion of MIS
techniques and robot devices. However, current systems are large and
cumbersome. Optimizing the surgical robot mechanism will eventually lead to
its integration into the operating room (OR) of the future becoming the
extended presence of the surgeon and nurses in a room occupied by the
patient alone. By optimizing a spherical mechanism using data collected
in-vivo during MIS procedures, this study is focused on a bottom-up approach
to developing a new class of surgical robotic arms while maximizing their
performance and minimizing their size. The spherical mechanism is a
rotational manipulator with all axes intersecting at the center of the
sphere. Locating the rotation center of the mechanism at the MIS port makes
this class of mechanism a suitable candidate for the first two links of a
surgical robot for MIS. The required dexterous workspace (DWS) is defined as
the region in which 95% of the tool motions are contained based on in-vivo
measurements. The extended dexterous workspace (EDWS) is defined as the
entire abdominal cavity reachable by a MIS instruments. The DWS is defined
by a right circular cone with a vertex angle of 60 deg and the EDWS is defined
by a cone with an elliptical cross section created by two orthogonal vertex
angles of 60 deg. and 90 deg. A compound function based on the mechanism's isotropy
and the mechanism stiffness was considered as the performance metric cost
function. Optimization across both the DWS and the EDWS lead to a serial
mechanism configuration with link length angles of 74 deg and 60 deg for a serial
configuration This mechanism configuration maximized the kinematic
performance in the DWS while keeping the EDWS as its reachable workspace.
Surgeons, using a mockup of two mechanisms in a MIS setup, validated these
results experimentally. From these experiments the serial configuration was
deemed most applicable for MIS robotic applications compared to a parallel
mechanism configuration. The mechanical design of a cable actuated surgical
robot was based on optimized link length angles. The system is currently
being integrated into a fully operated two-arm system. Small form-factor
surgical robotic arms with optimized dexterous workspaces will facilitate
the integration of multiple arms while avoiding self-collision in the OR of
the future.
["I would like a hard copy of this report"]
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Updated: Tue Jul 15 23:54:51 2008
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