Kinematic and Dynamic Analysis of a Surgical Robot Positioning Arm

Friedman, D. (2008) Kinematic and Dynamic Analysis of a Surgical Robot Positioning Arm. Masters thesis, University of Washington.

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Abstract

Over time, operating rooms have become increasingly crowded. The introduction of surgical robots into the operating ?eld has only exacerbated the problem. In an effort to reduce crowding, the BioRobotics Lab at the University of Washington (Seattle, WA) developed the RAVEN, a small form-factor surgical robot. To increase the RAVEN's workspace and decrease setup time, the C-Arm was also developed to accurately support and position the RAVEN during surgery. The macro-micro manipulator system created by the C-Arm and the RAVEN occupies less space than a single manipulator with a similar workspace, can be used to automate setup procedures, and also increases patient safety. This thesis presents an analysis and computational implementation of the C-Arm's forward kinematics and dynamics, along with a fast numerical solution for the inverse kinematics. The inverse kinematics solution can be generalized to provide a solution for any six degree-of-freedom manipulator, assuming the forward kinematics are known and that it is possible to solve for the remaining joint angles if one joint angle's value is known. With a fast numerical method and the current levels of computing power, designing a manipulator with closed-form inverse kinematics is no longer necessary. When designing the C-Arm, we therefore chose to weigh other factors, such as actuator size and patient safety, more heavily than the ability to ?nd a closed-form inverse kinematics solution. The equations presented here will be used when controlling the C-Arm either alone or with the RAVEN.

Item Type: Thesis (Masters)
Subjects: C Surgical Robots > C Surgical Robots(General)
C Surgical Robots > CA Robotic Control
Divisions: Department of Mechanical Engineering
Depositing User: Tim Brown
Date Deposited: 27 Jul 2015 22:52
Last Modified: 27 Jul 2015 22:52
URI: http://brl.ee.washington.edu/eprints/id/eprint/110

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