Engineering Approaches to Mechanical and Robotic Design for Minimally Invasive Surgery (MIS)Within the past twenty years, the field of robotics has been finding many areas of applications ranging from space to underwater explo rations. One of these areas which is slowly gaining popularity among the users group is the notion of service robotics. This book is an in vestigation and exploration of engineering principles in the design and development of mechanisms and robotic devices that can be used in the field of surgery. Specifically the results of this book can be used for designing tools for class of Minimally Invasive Surgery (MIS). Generally, Minimal Invasive Surgery (MIS), e. g. laparoscopic surgery, is performed by using long surgical tools, that are inserted through small incisions at the ports of entry to the body (e. g. abdominal wall) for reaching the surgical site. The main drawback of current designs of en doscopic tools is that they are not able to extend all the movements and sensory capabilities of the surgeon's hand to the surgical site. By im proving surgical procedures, training, and more practice, it is possible for surgeons to reduce completion time for each task and increase their level of skill. However, even in the best cases the level of performance of a surgeon in Minimally Invasive Surgery is still a fraction of the con ventional surgery. Any dramatically improvement is usually driven by introduction of new tools or systems that in turn bring totally new pro cedures and set of skills. |
Contents
INTRODUCTION | 1 |
1 TYPICAL SETUP FOR LAPAROSCOPIC SURGERY | 2 |
2 SURGICAL PROBLEMS IN ENDOSURGERY | 4 |
22 MOVEMENTS OF HANDSTOOLS | 6 |
23 FORCETACTILE SENSING | 8 |
32 REMOTE MANIPULATION | 9 |
4 BOOK OVERVIEW AND CONTRIBUTIONS | 10 |
PASSIVE ROBOTICS LAPAROSCOPIC STAND | 13 |
4 DESIGN INTEGRATION | 85 |
42 THE CONTROLLER | 87 |
5 SIMULATION RESULTS | 89 |
6 BANDWIDTH ANALYSIS | 91 |
7 EXPERIMENTAL RESULTS | 93 |
8 DISCUSSION AND FURTHER DEVELOPMENTS | 100 |
ROBOTIC EXTENDERS | 105 |
1 CONFIGURATION OF ROBOTIC EXTENDERS | 107 |
1 KINEMATIC SYNTHESIS | 14 |
11 TYPE SYNTHESIS OF THE WRIST | 15 |
12 SIZE SYNTHESIS OF THE WRIST | 19 |
2 SYNTHESIS OF THE POSITIONING ARM | 22 |
21 MANIPULABILITY OF THE ARM | 24 |
22 REACHABILITY OPTIMIZATION | 28 |
3 MULTIARMS INTEGRATION | 30 |
4 FEATURES OF MECHANICAL DESIGN | 31 |
5 PROTOTYPE DEVELOPMENT AND EVALUATION | 33 |
6 DISCUSSIONS | 35 |
FLEXIBLE STEM GRASPERS | 37 |
LAPAROSCOPIC EXTENDERS | 40 |
2 LAPAROSCOPIC WORKSPACE FORMULATION | 43 |
3 OPTIMAL DESIGN OF THE FLEXIBLE STEM | 46 |
4 FEATURES OF THE MECHANICAL DESIGN | 52 |
DISCUSSION | 54 |
AUTOMATED DEVICES | 57 |
1 NEW SUTURING DEVICE WITH CCM DESIGN | 61 |
2 FRICTION ANALYSIS OF THE BELT MECHANISM | 62 |
3 LARGE SCALE EXPERIMENTAL PROTOTYPE | 64 |
4 MINIATURIZATION CHALLENGES | 67 |
FORCE REFLECTING GRASPERS | 73 |
1 DESIGN CONCEPTS | 74 |
2 TYPE SYNTHESIS OF TUNABLE SPRING | 76 |
21 STIFFNESS AND BENDING ANALYSIS | 78 |
3 SIZE SYNTHESIS OF TUNABLE SPRING | 83 |
2 KINEMATICS OF THE EXTENDER | 109 |
3 JACOBIAN FORMULATION | 113 |
4 INVERSE VELOCITY KINEMATICS | 118 |
5 CONSTRAINED MOTION | 119 |
51 FIXED POSITION CONSTRAINT | 121 |
52 FIXED ORIENTATION CONSTRAINT | 124 |
6 TOWARD LAPAROSCOPIC TELESURGERY | 126 |
CONCLUSIONS | 131 |
2 SUGGESTIONS FOR FUTURE WORK | 134 |
General Friction Models of Joints | 137 |
1 PRELIMINARY ANALYSIS | 139 |
2 REVOLUTE PIN JOINTS | 141 |
22 EQUILIBRIUM ANALYSIS | 142 |
3 SPHERICAL SOCKETBALL JOINTS | 146 |
31 THE RADIAL STRESS DISTRIBUTION | 147 |
32 EQUILIBRIUM ANALYSIS | 148 |
CONTACT ANGLES AND LOADS | 151 |
JOINTS CLEARANCE FOR MAXIMUM STIFFNESS | 153 |
6 SUMMARY | 155 |
Sample Drawings of Flexible Stem | 157 |
Jacobian Derivation | 163 |
References | 169 |
About the Authors | 179 |
181 | |
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Engineering Approaches to Mechanical and Robotic Design for Minimally ... Ali Faraz,Shahram Payandeh No preview available - 2012 |
Common terms and phrases
actuation additional DOF application axis bandwidth belt cholecystectomy configuration constrained motion constraint contact angle Coulomb frictional developed dexterity measure dexterous workspace diameter end-effector endoscopic equations experimental Figure fixed orientation fixed position flat belt flexible stem Fmin force reflection Forward kinematics full contact function grasping force Fout grasping head handle haptic haptic interface incision point Inverse kinematics Jacobian kinematic laparoscopic extender laparoscopic graspers laparoscopic stand laparoscopic surgery lead screw leaf spring limit Flim linkage mechanism linkages load locking maximum miniaturized movements needle obtained Omax open surgery parameters perform Pmax port of entry positioner prototype pulley radial range reachable workspace Req.I requirements revolute pin joints robotic extenders rotary joints rotation Simon Fraser University simulation spherical joint stiffness surgeon surgical tools suturing and knotting suturing device tele-operation tendons Theta-dot tissue Tmax torque transmission ratio tunable spring velocity wrist mechanisms Xref θοτα
Popular passages
Page 173 - MW Spong and M. Vidyasagar, Robot Dynamics and Control, John Wiley and Sons, New York, 1989.
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