Payload optimization of surgical instruments with rolling joint mechanisms

Lee, Dong‐Ho; Hwang, Mina; Kim, Joonhwan; Kwon, Dong‐Soo

doi:10.1109/iros45743.2020.9341318

Cited by 11 publications

(4 citation statements)

References 21 publications

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“…This facilitates the creation of devices with the best possible performance for the desired task. However, despite the substantial efforts to increase the stiffness and load capacity of hyper-redundant manipulators, design optimization studies are scarce [33,38,39]. Furthermore, they have not examined all the design variables or the requirements and constraints of specific surgical applications.…”

Section: Prosmentioning

confidence: 99%

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Sawant,

Gkikakis,

Mattos

2023

Machines

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Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery. However, because of their inherent compliance, handling payloads may prove challenging due to shape distortion and deflection. This demonstrates the need to optimize the manipulator’s stiffness. The primary objective of this work was to show the merits of sensitivity analysis in the design of flexible surgical manipulators. Such analysis can guide important design decisions and enable the more efficient use of available resources, contributing to designing more effective prototypes. A new sensitivity analysis framework based on a multi-model and a multi-method approach was proposed to achieve this. This framework was then demonstrated by studying a tendon-driven rolling contact joint hyper-redundant manipulator for transoral laser microsurgery. In this analysis, the effects of independent design parameters on the stiffness of the manipulator were examined. Then, scaled-up 3D-printed prototypes were used to validate the accuracy of the stiffness model experimentally, which enabled us to assess the outcome of the sensitivity analysis framework. The results demonstrated that only two out of five design parameters for the considered manipulator significantly impacted the device’s performance. This information could enable the designer to efficiently allocate resources toward correctly setting these two most important parameters to achieve the desired system. Overall, the proposed analysis framework is a general tool that can be applied to any design architecture, helping to develop optimal manipulators for various applications.

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Section: Prosmentioning

confidence: 99%

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Sawant,

Gkikakis,

Mattos

2023

Machines

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“…These approaches can efficiently increase the moment arm; however, they are applicable in a limited-bending DoF and the interference between protruding rods or wires and surrounding objects should be considered. As another approach, a joint design parameter optimization methodology was proposed for discrete backbone manipulators using rolling joints [25]. The moment arm in a given manipulator diameter is maximized by optimizing joint design parameters based on the moment equilibrium equation.…”

Section: K E Y T E C H N I C a L I S S U E S I N F L E X I B L E S U ...mentioning

confidence: 99%

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

et al. 2022

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“…RC joints are attracting increasing attention on their potential applications to robotic fingers [11]- [16], manipulator [4], [5], [17]- [22], etc. The kinematics of the one-DOF circular rolling contact (CRC) joint is modeled in [11], which is used to form a two-joint robot finger.…”

Section: Introductionmentioning

confidence: 99%

“…A three-DOF serial chain [17] and a three-DOF planar parallel mechanism [4] using CRC joints are designed, respectively, with the forward kinematics and inverse kinematics (IK) being analyzed. Contributing to the compactness, miniaturization potential, and lower part count, the RC joints are used to construct hyper-redundant manipulators for minimally invasive surgery [5], [19], [20], with the performance of the RC joints in terms of payload, force, and stiffness being continuously optimized [18], [21], [22]. It is worth noting that so far only one-DOF CRC joint has been explored, and the robotic fingers and manipulators perform only planar motions.…”

Section: Introductionmentioning

confidence: 99%

Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator

2023

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Rolling contact joints are attracting increasing interest in applications to robotic fingers and manipulators, due to the potential of the absence of abrasion wear, the simplification of the controller, and the enlargement of reachable configurations. This article first proposes a novel two-degree-of-freedom (DOF) spherical rolling contact (SRC) joint, with the joint model elements being formulated, including rotation matrix, position vector, and free modes, as with those of classic joints. As an application, a new kind of serial manipulator formed by the SRC joints is presented, and its forward and inverse kinematics are modeled. The motions of the two-DOF SRC joint and manipulator are implemented using the FreeBOT, and the control method is proposed for the FreeBOT, such that the SRC joint and manipulator realize the motion control. The kinematics and control of the two-DOF SRC joint and manipulator are validated using physics simulations and on a real manipulator formed by FreeBOTs.

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Payload optimization of surgical instruments with rolling joint mechanisms

Cited by 11 publications

References 21 publications

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Advancement of Flexible Robot Technologies for Endoluminal Surgeries

Kinematics Modeling and Control of Spherical Rolling Contact Joint and Manipulator

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