Transcript Development of micro-tools for surgical applications LABORATOIRE DE ROBOTIQUE DE PARIS

UNIVERSITA' DEGLI STUDI DI GENOVA
UNIVERSITE' PIERRE ET MARIE CURIE
FACOLTA' DI INGEGNERIA
LABORATOIRE DE ROBOTIQUE DE PARIS
PHD THESIS EN COTUTELLE
XVII CICLE
Development of micro-tools for surgical applications
18 November 2005
SUPERVISORS:
PROF. ING. Rinaldo MICHELINI
PROF. ING. Philippe BIDAUD
STUDENT:
Francesco CEPOLINA
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Index
robotic surgery
MEMS technologies
modules design
system integration
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Robotic surgery
Robotic in-body equipment
Active catheters
Endoscopes
Autonomous worms
Navigating pills
Remote-surgery environments
Orthopaedic surgery
Eye surgery
Laparo/thorax-tomic surgery
Surgical end-effectors
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Active catheters
Tohoku University
www.olympus.com
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Esashi catheter
Olympus catheters
Endoscopes 1 of 4
Hirose + Yoneda
Robotics lab
State of art
Ikuta laboratory
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Endoscope tip
Hirose and Ikuta endoscopes
Endoscopes 2 of 4
ARTS lab
University of Genoa
Paris
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
LRP intestinal endoscope
Pisa arthroscope
6
Endoscopes 3 of 4
Dr. Gründler
Swiss endoscope
Pennsylvania State University
Stanford
Research
University
of Genoa Institute
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
EPAM endoscopes
Endoscopes 4 of 4
Imperial College of London
Neuro-endoscopic operating instruments
Grenoble University
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Laparotomic endoscope
Autonomous worms 1 of 3
Katholieke
Uneversiteit
Leuven
University of Genoa
Leuven
intestinal worm
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
ARTS lab
Pisa intestinal worm
Autonomous worms 2 of 3
Katholieke
Uneversiteit
Leuven
Leuven intestinal worm arms
Korea worm
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Korea
Institute of
Science and
Technology
Autonomous worms 3 of 3
Korea
Institute of
Science and
Technology
Korea impulsive worm
Korea centipede worm
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Navigating pills
www.rfnorika.com
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
The Norika 3 pill
Robotic surgery
Robotic in-body equipment
Active catheters
Endoscopes
Autonomous worms
Navigating pills
Remote-surgery environments
Orthopaedic surgery
Eye surgery
Laparo/thorax-tomic surgery
Surgical end-effectors
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Robotic surgical systems
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Orthopaedic surgery
Israel Institute of
Technology
Eye surgery
NASA Jet Propulsion Lab
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Laparo/thorax-tomic surgery
http://www.intuitivesurgical.com/
University of Genoa
®
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
The da Vinci surgery system
Surgical end-effectors 1 of 4
http://www.intuitivesurgical.com/
The ZEUS® surgery tools
University of Genoa
®
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
da Vinci surgery tools
Surgical end-effectors 2 of 4
da Vinci® snake wrist
http://www.intuitivesurgical.com
Technical University of Lódz
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Poland surgery gripper
Surgical end-effectors 3 of 4
Michigan State University
College of Engineering
Michigan surgery gripper
German Aerospace
Center, DLR
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
German surgery gripper
Surgical end-effectors 4 of 4
Warsaw University of
Technology
Poland sewing effector
Daimler Benz
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
German forceps
Minimally invasive surgery: clamps
2DoF
4DoF
4DoF
5DoF
5DoF
5DoF
F. Cepolina, R.C. Michelini, “"Robots in medicine: A survey of in-body
nursing aids. Introductory overview and concept design hints."
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Index
robotic surgery
MEMS technologies
modules design
system integration
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
MEMS technologies 1/4
PIEZOELECTRIC EFFECT
ELECTROSTATIC FORCE
Multilayer piezoelectric actuators
Comb drive
Ultrasonic motor
Rotating comb drive
Inchworm piezoeletric motor
Wooble motor
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
MEMS technologies 2/4
MAGNETO AND ELECTROSTRICTIVE FORCE
SHAPE MEMORY ALLOYS
Actuators SMA
Electrostrictive actuators
Elastomeric dielectric actuators
Magnetostrictive actuators
ELECTROMAGNETIC FIELD 1/2
Coreless DC motors
MAGNETO- AND ELECTRORHEOLOGICAL EFFECT
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
MEMS technologies 3/4
ELECTROMAGNETIC FIELD 2/2
Micro stepper motor
Brushless DC motor
Micro linear motor
Solenoids
Stepper motor
Voice coil motor
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
MEMS technologies 4/4
FLUID ACTUATION
Bourdon pipe
Artificial muscles
THERMAL EXPANSION
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Index
state of art
MEMS technologies
modules design
system integration
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Modules design
embodiment design
commercial components
detail design
Target 1
control
Improvement of arm dexterity
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Design process
University of Genoa
PMAR – Department of Mechanics and Machines design
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Technical problems
Limited module size:  10 mm max (fixed by the trocar)
L 30 mm max (fixed by thorax)
Limited actuators power  block not active joints, use light material
Size
limited n° of modules, limited payload
Machining
Limited space available  use miniature screws, gluing, welding
How to link modules together: mechanic, power, signal
Operating theatre
High precision and accuracy is required  arm stiffness, error
compensation
Safety  force feedback, fast module retrieval, module reliability,
modules compliance
Control
Redundant robot control  distributed logic, singularities avoidance,
coordination with 2nd hand, sensor fusion, communication protocol
University of Genoa
Actuation ? Material ? Transmission ? Sensors ?
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Surgical articulated arm
Vladimir Filaretov
Instrument design
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
In collaboration with:
Prof. Vladimir Filaretov of
Far Eastern State Technical
University (Vladivostok)
Arm with clutches
TECHNICAL PROBLEM
• Clutches are delicate
• Precision machining is needed
University of Genoa
PMAR – Department of Mechanics and Machines design
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Self powered forearm
TECHNICAL PROBLEM
• Motors limit the arms power
• Low dexterity
University of Genoa
PMAR – Department of Mechanics and Machines design
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Universal joint forearm
TECHNICAL PROBLEM
• Precision machining is needed
University of Genoa
PMAR – Department of Mechanics and Machines design
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Flexible joints forearm
TECHNICAL PROBLEM
• Disposition of the wires
along the arm
University of Genoa
PMAR – Department of Mechanics and Machines design
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The forearms family
University of Genoa
PMAR – Department of Mechanics and Machines design
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Modules design
embodiment design
commercial components
detail design
control
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Torque needed for sewing
Smoovy motor I
model
DC2S3.125.R.3
size
D 3.4=mm, L=13,29 mm+1,7 mm
motor speed
15000 rpm
gear ratio
125
gear speed
120 rpm
gear torque 2,6 2,2to3,0
mNm
Smoovy motor II
model
DC2S4.025.R.3
size
D 4.8=mm, L=16,3 mm+4,66 mm
250 rps
2 rps
motor speed
32500 rpm
541,666667 rps
gear ratio
25
gear speed
1300 rpm
21,6666667 rps
gear torque 0,9 0,6to1,2
mNm
Faulhaber motor
model
0206 B
size
D 1,9=mm, L=10,03 mm+1,55 mm
motor speed
35000 rpm
gear ratio
47
gear speed
744,6808511 rpm
gear torque 0,225 0,15to0,3 mNm
Actuation
583,333333 rps
Material
12,4113475 rps
Transmission
Sensors
Our torque needs
Sewing force
arm
Sewing torque
0,3 N
4 mm
1,2 mNm
D13, A125°
D1
0
University of Genoa
PMAR – Department of Mechanics and Machines design
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4
Motor selection 1/2
Commercial miniature electric motors
COMMENTS
Penn States sells miniature (1.8 mm diam, 4 mm long) piezoelectric
motors too expensive (3300 Euro/each)
Actuation
Material
Transmission
Sensors
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Motor selection 2/2
alluminium 2,71 g/cm3
acetal 1,30 g/cm3
module b0 motor torque
0,357
1,072
1,787
3,217
b1 dynamic weight 0,523 mNm
b2 dynamic weight 1,568 mNm
b3 dynamic weight 2,614 mNm
4,705
ANSWER aluminium module b can carry about 1 module b
acetal module b can carry about 2 modules b
b0
b1
4,805 mNm
e1 dynamic weight
e2 dynamic weight
e3 dynamic weight
1,087 mNm
3,261 mNm
5,434 mNm
9,782
e1
e2
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
0,896 mNm
b1 dynamic weight
b2 dynamic weight
b3 dynamic weight
0,203 mNm
0,61 mNm
1,017 mNm
1,83
ANSWER aluminium module b can carry about 1 module b
acetal module b can carry about 2 modules b
b0
ANSWER aluminium module e can carry about 2 modules e
acetal module e can carry about 2 modules e
e0
0,124
0,372
0,62
1,116
b2
module e0 motor torque
0,831
2,494
4,157
7,482
module b0 motor torque
1,493 mNm
b1
b2
module e0 motor torque
0,373
1,119
1,865
3,356
2,883 mNm
e1 dynamic weight
e2 dynamic weight
e3 dynamic weight
0,522 mNm
1,565 mNm
2,609 mNm
4,695
Actuation
Material
ANSWER aluminium module e can carry about 2 modules e
acetal module e can carry about 2 modules e
e0
e1
e2
Transmission
Sensors
COMMENT
Penn States piezo electric motors (1.8 mm diam, 4
mm long) are too expensive (3300 Euro/each)
Material selection
MATERIALS COMPARISON (FROM FARNELL)
It is performed a comparison between the engineering materials available from Franell
units
ABS
Acetal copolymer (Ertacetal C)
Acetal homopolymer (Derlin)
Nylon (EETALON 66 SAMU)
Nylon (EETALON 66 SA)
Nylon (EETALON 66 GF-30)
PEEK
PTFE
PVC
Polycarbonate (AXXIS)
Polyethylene (PET-P)
Polyethylene (UHMWPE)
Polypropylene
Torlon 4203 PAI
density tens mod tens strength flex mod flex strength compr stength melt point Hardness elong yield
g/cc
MPa
MPa
MPa
MPa
MPa
Degrees Rockwell %
1,05
2495
41
2400
77,4
64
58
R103
2,6
1,41
2795
62
2585
90
61
165
R120
60
1,42
3105
70
2620
98
73
175
R120
30
1,16
3645
82,5
3103
120
17
260
R118
75
1,145
2238,5
72,5
1927
91,5
17
260
R116
190
1,35
10000
190
?
270
17
255
M100
3
1,4
5700
110
4100
160
120
180
R130
5
2,25
489
18
600
98
12,5
327
S82
300
1,46
3500
48
2534
125
?
80
D84
120
1,2
2300
65
2967
100
52
154
M75
50
1,15
3200
85
3400
120
103
260
R130
20
0,93
606
40
517
?
?
130
D62
350
0,9
1050
42
2000
45
?
160
D80
600
1,38
4500
120
?
?
40
357
8 mm
F
Admissible bending Load
(N)
ELONGATION
mm
< 0,01
Transmission
Sensors
10
16
14
12
10
8
6
4
2
0
0,8
F
Material
Admissible bending load
150 mm
Nylon
LOAD
N
10
?
Actuation
University of Genoa
PMAR – Department of Mechanics and Machines design
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0,9
1
1,1
1,2
Density (g/cc)
Any material can support about
300g as bending load
1,3
1,4
1,5
Components selection
Motors
3300 €
550 €
90°
transmission
5€
8€
Angular
sensors
4€
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
18 €
Actuation Material Transmission Sensors
Modules design
embodiment design
commercial components
detail design
control
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Index
Detail design
1 DOF modules
2 DOF modules
End effectors
Final solution
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
1DOF modules 1/5
TECHNICAL PROBLEM
• The face gear is not feasible
• Link between the orange gear and
the pink part
• Low torque
OVERALL L
GEAR RATIO
17.5mm (motor l 1.5mm)
0.625
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
1DOF modules 2/5
TECHNICAL PROBLEM
• Multipole magnet offers low resolution
• Multipole magnet is costly
• The magnet is difficult to assemble
• Low torque
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
1DOF modules 3/5
TECHNICAL PROBLEM
• Consider undercutting for gear design
• The gear, if magnetic, is difficult to machine
• Low torque
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
1DOF modules 4/5
TECHNICAL PROBLEM
• Optic wires along the arm
• This face gear is not machinable
• Low torque
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
1DOF modules 5/5
University of Genoa
PMAR – Department of Mechanics and Machines design
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1DOF modules family:
PROBLEM
• Low torque
PROBLEM
• Low torque
• Too long
• Big gear
• Face gear not
machin.
PROBLEM
• Low torque
PROBLEM
• Low torque
PROBLEM
• Low torque
• Face gear not
• The magnetic
• The gear is not
machin.
gear is not
machin.
machin.
• Cabling
problems
• Sensor gives
low resolution
University of Genoa
PMAR – Department of Mechanics and Machines design
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1DOF modules: rotational 1/3
PROBLEM
• Difficult assembly
University of Genoa
PMAR – Department of Mechanics and Machines design
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• Crown gear is not machinable
• Face gear is not machinable
• Low torque
1DOF modules: rotational 2/3
PROBLEM
• The magnetic gear is difficult to make
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
• The sensor is costly
• Low torque
1DOF modules: rotational 3/3
University of Genoa
PMAR – Department of Mechanics and Machines design
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1DOF modules family:
PROBLEM
• Difficult assembly
PROBLEM
• The magnetic gear is difficult to make
• Crown gear is not
• Complex assembly
• The sensor is costly
• Low torque
machinable (too small)
University of Genoa
PMAR – Department of Mechanics and Machines design
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PROBLEM
• The magnetic gear
is difficult to make
• The sensor is
costly
• Low torque
Index
Detail design
1 DOF modules
2 DOF modules
End effector
Final solution
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
2DOF modules 1/4
module: length 25.6mm
dexterity 124° 360°
gear teeth: module
0.25mm
gear ratio 8/24 (/24)
University of Genoa
PMAR – Department of Mechanics and Machines design
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PROBLEM
• The face gears not available
• Conic gears not usable
• Where to put sensors ?
2DOF modules 2/4
part name
adim
1,5*part A frame
2*part B frame
2*part A motor fix
4X bearing
12X screw
4 gears
2* sensor + card
2*magnet
motor + reduction
mass
g
1,469907
0,4449396
0,4009896
0,195936
0,263952
0,489456
0,376602
0,15288
2,26
6,0546622
University of Genoa
PMAR – Department of Mechanics and Machines design
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2DOF modules 3/4
University of Genoa
PMAR – Department of Mechanics and Machines design
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2DOF modules 4/4
University of Genoa
PMAR – Department of Mechanics and Machines design
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2DOF modules:
PROBLEM
• Too long
PROBLEM
• The face gears are difficult to
find and to make.
• Conic gears give a solution
mechanically not working
University of Genoa
PMAR – Department of Mechanics and Machines design
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Index
Detail design
1 DOF modules
2 DOF modules
End effector
Final solution
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Clamp 1/2
PROBLEM
• Too Long
HP
L0(6 mm), L1(6,95 mm), b, F1
ACTUATION
Smoovy 5mm +
Harmonic drive 1:500
OVERALL
LENGTH
31,4 + 5,6 mm
POWER
58 N (optimistic)
F3=F1cosb
L3=L5*F3/F1 (L3/F3=L5/F1)
L5=L6+L1
L1=6,95 mm
L6=L0*tgb
(tgb=L6/L0)
b
b
L4
L2
L0
F1
L3
b
M=L3*F3
L6
L1
L5
M=L3*F3=(L5*F3/F1)*(F1cosb)=L5*F3*cosb=L5*F1*(cosb)^2=
L5=L6+L1=LO*tgb+L1
M=(LO*tgb+L1)*F1*(cosb)^2
University of Genoa
L3=M/F3=M/(F1*cosb)
PMAR – Department of Mechanics and Machines design
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b
F3
Clamp 2/2
University of Genoa
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Clamps family:
PROBLEM
• too much SMA
elongation is
needed
PROBLEM
• assembly
PROBLEM
• assembly
PROBLEM
• we need a long
module
PROBLEM
• too long
University of Genoa
PMAR – Department of Mechanics and Machines design
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PROBLEM
• not much place for
the wires
PROBLEM
• force and elongation not
along the axis
End effectors family
PROBLEM
• Integrate into the system position and force sensors
PROBLEM
• Fix the instrument respect to the organ
• Control the blade advance
• See exactly were the instrument is cutting
• Assembly is complex
• Rotation of the syringe needle
PROBLEM
• High clamping force is required
• Friction between clamps and needle is low
• Final module needs to be short
PROBLEM
• Throw out the sewing wire from the spiral
• To tension the sewing wire
• To knot the sewing wire
University of Genoa
PMAR – Department of Mechanics and Machines design
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Sewing instrument
TECHNICAL PROBLEM
• Wire tensioning during sewing
• Creation of knot
University of Genoa
PMAR – Department of Mechanics and Machines design
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Index
Detail design
1 DOF modules
2 DOF modules
End effector
Final solution
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Modules selection
University of Genoa
PMAR – Department of Mechanics and Machines design
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Final solution 1/4
University of Genoa
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Final solution 2/4
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Final solution 3/4
University of Genoa
PMAR – Department of Mechanics and Machines design
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Final solution 4/4
A
University of Genoa
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B
Index
state of art
MEMS technologies
modules design
system integration
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
System integration
architecture selection
workspace
simulation
evaluation
University of Genoa
PMAR – Department of Mechanics and Machines design
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Target 2
Selection of a robotic platform
able to carry the arm
Arm carrier 1: industrial robot
Reduce the size of the
surgery platform
PROBLEM
• production cost and weight
Patient
• the device is cumbersome
University of Genoa
PMAR – Department of Mechanics and Machines design
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Arm carrier 2: miniature robot
Zemiti Nabil
Minimise motors
outside the patient
PhD project
Patient
PROBLEM
• the device can exert limited force
• the instrument is delicate
University of Genoa
PMAR – Department of Mechanics and Machines design
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Arm carrier 3: snail
Preferred solution
The tendence is to ‘push’ as
many DoFs as possible inside
the robot
Patient
University of Genoa
PMAR – Department of Mechanics and Machines design
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PROBLEM
• the device can exert limited force
• the instrument is delicate
Snail architecture
Device syntesis
Module length
Insertion problem
Optimal N of DOFs
Multiple solutions
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Snail 3D view
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
System integration
architecture selection
kinematics
simulation
evaluation
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Target 3
Analysis of the robot
workspace and singularities
Workspace, singularities and control
Forward kinematics
Singularity analysis
Denavit Hartenberg
Graphic method:
---
screw theory
Robot workspace
---
--Maple parametric
algorithm
Analytic method:
Plücker coordinates
Velocity transform matrix
Backward kinematics
Reduction to
polynomial method
--Pieper’s method
--Numerical method
--Maple parametric module
Database graphical output
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Robot dynamics
Creation of C++
simulation environment
(on ODE language)
--motion strategy
Forward kinematics
ROBOT ARCHITECTURE
GEOMETRY PARAMETERS: L1, L2, L3, L4
JOINT COORDINATES: 1, 2, … 6
JOINT RANGES: 1min<1<1max …..
DENAVIT
HARTEMBERG
PLUCKER
COORDINATES
TRANSFORMATION
MATRIX
VELOCITY
TRANSFORM
MATRIX
- END EFFECTOR POSITION: X, Y, Z
- END EFFECTOR ORIENTATION: R
- SINGULARITY CHECK: DET(Tc)
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Denavit Hartemberg formulation
6 DOF arm
Redundant arm
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Instrument workspace: Denavit Hartenberg
GEOMETRICAL
DATA OF THE ARM
JOINT
COORDINATES
RANGES
WORKSPACE ANALYSIS
3D VISUALIZATION
ARM
CONFIGURATION
DIRECT KINEMATIC
MODEL OF THE ARM
ARCHITECTURE
DH
POSES OF
THE
END EFFECTOR
MAPLE
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
GRAPHICAL
OUTPUT
POINT CLOUD
Instrument singularities: screw theory
The mini-arm is a decoupled
manipulator.
The configuration is singular
if one of the following
conditions is satisfied:
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Instrument singularities: velocity transform matrix
Velocity transform
matrix Tc
Determinant of Tc
Solutions
GEOMETRICAL
DATA OF THE ARM
SINGULARITY ANALYSIS
3D VISUALIZATION
JOINT
COORDINATES
RANGES
JOINTS
VELOCITY
TRANSFORM MATRIX
OF THE ARM
ARCHITECTURE
SINGULAR
POSES OF THE
END EFFECTOR
SCREW THEORY
ARM WORKING
CRITERIA
MAPLE
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
GRAPHICAL
OUTPUT
POINT CLOUD
Instrument singularities: iso-orientation surfaces
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Instrument singularities: overall view
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Instrument singularities: database query
1) Database creation by numerical analysis
2) Singularities workspace database query
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
System integration
architecture selection
workspace
simulation
evaluation
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Target 4
Control of the redundant
surgical robot
Distributed control strategy
TASK REQUIREMENT
END EFFECTOR
POSITION AND FORCE
MODEL BASED CONTROL
INVERSE KINEMATICS
SINGULARITIES AVOIDANCE
NON LINEARITIES COMPENSATION
PID CONTROL
PID CONTROL
MODULE 1
MODULE 2
END EFFECTOR
POSITION AND FORCE
END EFFECTOR
POSITION AND FORCE
PID CONTROL
………..
MODULE 6
END EFFECTOR
POSITION AND FORCE
BODY ENVIRONMENT
MISSION PERFORMING
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Control of the snail surgery platform
The control of the surgery robot is
implemented (450 lines of code)
using the ODE library
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Path planning strategy
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Sensor fusion
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Arms cooperation
From 3 to 4 endoscopic arms are
necessary to complete a minimally
invasive surgery operation
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
System integration
architecture selection
workspace
simulation
evaluation
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Target 5
Evaluation of the prototype
performance
Proposed arm modules
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Selection of modules prototypes
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Prototypes: single module
Damien Sallè
Genetic arm optimisation
Prototype design, assembly
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Actuation detail
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Torque measurement
79 g
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
2 DOF module
Damien Sallè
Genetic arm optimisation
Prototype design, assembly
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Gripper I actuation
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Gripper I performance
Clamping force
40 N
Damien Sallè
Genetic arm optimisation
Prototype design, assembly
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Gripper II overall view
Filippo Morra
Gripper design
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Gripper II actuation
Jaw and spring
Filippo Morra
Gripper design
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Vision
Sergio Daprati
Gripper design
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Arm prototype
Damien Sallè
University of Genoa
Genetic arm optimisation
PMAR – Department of Mechanics and Machines
design design, assembly
Prototype
www.dimec.unige.it/PMAR
Snail joint detail
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Surgery arm prototype performance
LRP Lab, Univ. of Paris 6
PMAR Lab, Univ. of Genoa
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
System integration
Silvia Frumento
back-arm design
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR
Conclusion
• A concept for an agile modular surgical robot is
presented and studied
• Several possible modules have been designed, some
prototyped and tested with satisfactory results
• A strategy for effective operation of the robot is
outlined and tested in simulation
University of Genoa
PMAR – Department of Mechanics and Machines design
www.dimec.unige.it/PMAR