Evaluation, optimization, and verification of the wrist mechanism of a new cooperatively controlled bimanual ENT microsurgery robot

Chao He, Kevin Olds, Lee M. Akst, Masaru Ishii, Wade W. Chien, Iulian Iordachita, Russell Taylor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper reports the evaluation, optimization, and verification of five different design proposals for the wrist system of a new microsurgery robot. The robot targets three main types of Ear Nose and Throat (ENT) surgeries. These surgeries require a compact design and configuration synthesis to decrease collisions, provide high precision and stiffness, and accommodate the clinical requirements of each surgery type. The system is composed of two 6 DOF active robots, each composed of a 3 DOF linear stage and a 3 DOF rotary wrist mechanism. The linear stage uses a 3 DOF parallel design to increase the accuracy and stiffness of the whole system while minimizing size and weight. However, to remain compact, this parallel mechanism introduces the problem of limited linear range of motion. Five different kinematic arrangements have been considered, and the evaluation and optimization of these configurations is discussed in detail. The main parameters considered in the evaluation include the range of motion of each DOF, the required linear movement to implement a virtual remote center of motion (RCM), and the environment occupation near the surgical tool. The optimal design of the wrist mechanism was determined by evaluating each design with respect to these parameters, and comparing the results. A prototype of the resulting optimal kinematic arrangement was mounted on a 3 DOF linear robot to verify the results of this optimization process. A series of verification experiments was performed. These experiments successfully verified the validity of the selected design.

Original languageEnglish (US)
Title of host publicationASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012
Pages155-164
Number of pages10
DOIs
StatePublished - Dec 1 2012
EventASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012 - Houston, TX, United States
Duration: Nov 9 2012Nov 15 2012

Publication series

NameASME International Mechanical Engineering Congress and Exposition, Proceedings (IMECE)
Volume2

Other

OtherASME 2012 International Mechanical Engineering Congress and Exposition, IMECE 2012
Country/TerritoryUnited States
CityHouston, TX
Period11/9/1211/15/12

ASJC Scopus subject areas

  • Mechanical Engineering

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