A novel compliant surgical robot: Preliminary design analysis

Akim Kapsalyamov, Shahid Hussain, Prashant K. Jamwal

Research output: Contribution to journalArticle

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 languageEnglish
Pages (from-to)1944-1958
Number of pages15
JournalMathematical Biosciences and Engineering
Volume17
Issue number3
DOIs
Publication statusPublished - 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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