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Design and Fabrication of a 4DOF Robotic Arm for Tool Manipulation in Remote Surgery
, M.Sc. Thesis Sharif University of Technology ; Durali, Mohammad (Supervisor) ; Farahmand, Farzam (Supervisor)
Abstract
The aim of this project was to design, analyze and fabricate a 4 DOF robotic arm to be used as a slave robot for tool handling in laparoscopic surgery. The mechanism used for this purpose should have a remote center of motion in order to be able to manipulate the tool through the small incision point. The robot should also provide sufficient force to handle endoscopic tools used for large organ manipulation and be capable of measuring these forces. A variety of mechanisms were studied thoroughly, and the best solution was chosen by considering the design parameters such as workspace, manipulability, accuracy, ease of fabrication, etc. The final design consists of a 2 DOF serial spherical...
Design of a force-reflective master robot for haptic telesurgery applications: RoboMaster1
, Article Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS ; 2011 , Pages 7037-7040 ; 1557170X (ISSN) ; 9781424441211 (ISBN) ; Mirbagheri, A ; Salarieh, H ; Farahmand, F ; Sharif University of Technology
Abstract
With the increasing trend toward Minimally Invasive Surgery (MIS) procedures, the need to develop new robotic systems to facilitate such surgeries is more and more recognized. This paper describes the design and development of a 4 DOF force-reflective master robot (RoboMaster1) for haptic telesurgery applications. A two-double parallelogram robot is introduced including a novel mechanism at the base for producing and control of the end effector's linear motion. This eliminates the deficiencies caused due to suspending massive actuators at the end effector or cabling from the base. The kinematics and work space of the system were analyzed and a prototype was developed for primary practical...
A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems
, Article International Journal of Medical Robotics and Computer Assisted Surgery ; Vol. 10, Issue. 2 , Jun , 2014 , pp. 129-139 ; ISSN: 14785951 ; Mirbagheri, A ; Behzadipour, S ; Farahmand, F ; Sharif University of Technology
Abstract
Background: An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. Method: A novel 4+1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. Results: With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The...