Mechanical System Design Of A Micro Invasive Robot For Abdominal Surgery

This paper focuses on minimally invasive abdominal surgery robot.By analyze the specific requirements of minimally invasive abdominalsurgery, design goals about kinematics, dynamics and specific applicationfor the robot are identified. Then a prototype design, processing, assemblyand testing are completed and experiments are carried out to validate of thefeasibility of its functions.First, according to characteristics and requirements of minimallyinvasive abdominal surgery, design objectives and related technicalparameters from workspace, movement flexibility, mechanicalrequirements, and specific requirements of surgical procedures are carriedout in detail.Secondly, using modular design concept, in the order from end tobase, the mechanical structures are designed for the surgical instrumentswith wrist unit, surgical instruments module with fast interface, activepositioning arm, passive positioning arm and mobile base. Kinematics,workspace, precision, mechanics and driving unit selection of the modulesare analyzed in meet the requirements of minimally invasive abdominalsurgery. On this basis, the entire abdominal minimally invasive surgicalrobot is designed and prototype is implemented.Then, using Omega7force haptic device with force feed feedback asthe master, a tele-operation motion solver and hand-eye coordinationalgorithm is designed. Virtual surgery is carried out in the OpenHRP3dynamics simulation environment to verify the feasibility of the design andalgorithms. Finally, a prototype test platform is build. And remote centervalidation, O-ring pick and placement test and stature operationexperiments are carried out. These experiments validate that the robot wedesigned meets the requirements for minimally invasive abdominal surgeryfrom working space, motion flexibility, control precision and intuitiveoperation.