A novel compliant surgical robot: Preliminary design analysis

Akim Kapsalyamov; Shahid Hussain; Prashant K. Jamwal

doi:10.3934/mbe.2020103

A novel compliant surgical robot: Preliminary design analysis

Akim Kapsalyamov, Shahid Hussain, Prashant K. Jamwal

Research output: Contribution to journal › Article › peer-review

Abstract

A robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is also developed. The operating workspace of robotic surgical system is determined considering the physical constraints imposed by mechanical joints. The simulation results show that the robotic system meets the design requirement. This research will lay a good foundation for the development of a compliant surgical robot to assist in MIS.

Original language	English
Pages (from-to)	1944-1958
Number of pages	15
Journal	Mathematical Biosciences and Engineering
Volume	17
Issue number	3
DOIs	https://doi.org/10.3934/mbe.2020103
Publication status	Published - Jan 1 2020

Keywords

Laparoscopic camera
Medical robots
Minimally invasive surgery
Pneumatic actuator
Remote center of motion

ASJC Scopus subject areas

Modelling and Simulation
Agricultural and Biological Sciences(all)
Computational Mathematics
Applied Mathematics

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10.3934/mbe.2020103

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title = "A novel compliant surgical robot: Preliminary design analysis",

abstract = "A robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is also developed. The operating workspace of robotic surgical system is determined considering the physical constraints imposed by mechanical joints. The simulation results show that the robotic system meets the design requirement. This research will lay a good foundation for the development of a compliant surgical robot to assist in MIS.",

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