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[Th029] Citation: Abstract
In the late 1980s and early 1990s minimally invasive surgical (MIS)
techniques revolutionized the way in which a significant number of
surgical interventions were performed. Throughout the 1990s technological
advances allowed for the development of a generation of robot manipulators
for MIS procedures. While revolutionary, these first generation
manipulators were large and cumbersome. By analyzing and optimizing a
spherical mechanism designed specifically for MIS this thesis lays the
foundation upon which a next generation surgical manipulator will be
designed. The kinematics of a 2-link serial and a 5-link parallel, 2
degree-of-freedom mechanisms is developed. Further, the workspace
requirements are defined based on surgical measurements taken during
actual MIS animal procedures. Using preliminary mechanical design
practical joint limits are established. A scoring criterion that takes
into account average performance, a guaranteed minimum performance and
proportionality to mechanism stiffness is defined using mechanism isotropy
as the underlying metric. An overall optimization is performed for both
serial and parallel configurations are performed. Adjustable passive
aluminum mock-ups were designed and fabricated for experimental evaluation
by surgeons of both serial and parallel combinations.
From the experimental evaluation it was determined that the
proper configuration should be two or more serial manipulators. The
kinematic optimization shows that the best design of serial manipulator is
74 for Link1 and 60 for Link2. The results of this research are used in
the design of a new surgical robotic system that will save critical space
around the patient on the operating table, provide the surgeon
with more dexterity than traditional MIS tools, and have the dynamic
bandwidth to support for a force-feedback surgeon interface.
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Updated: Tue Jul 15 23:54:51 2008
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