The DLR MIRO: a versatile lightweight robot for surgical applications

Abstract

Purpose -Surgical robotics can be divided into two groups: specialized and versatile systems. Versatile systems can be used in different surgical applications, control architectures and operating room set-ups, but often still based on the adaptation of industrial robots. Space consumption, safety and adequacy of industrial robots in the unstructured and crowded environment of an operating room and in close human robot interaction are at least questionable. The purpose of this paper is to describe the DLR MIRO, a new versatile lightweight robot for surgical applications. Design/methodology/approach -The design approach of the DLR MIRO robot focuses on compact, slim and lightweight design to assist the surgeon directly at the operating table without interference. Significantly reduced accelerated masses (total weight 10 kg) enhance the safety of the system during close interaction with patient and user. Additionally, MIRO integrates torque-sensing capabilities to enable close interaction with human beings in unstructured environments. Findings -A payload of 30 N, optimized kinematics and workspace for surgery enable a broad range of possible applications. Offering position, torque and impedance control on Cartesian and joint level, the robot can be integrated easily into telepresence (e.g. endoscopic surgery), autonomous or soft robotics applications, with one or multiple arms. Originality/value -This paper considers lightweight and compact design as important design issues in robotic assistance systems for surgery.

A Review on Energy-Saving Optimization Methods for Robotic and Automatic Systems

“…In this manner, the driving torque can be reduced, in turn using less energy and leading to an easier control [1,2,6,7,10,12,16,18]. In [7], arms made of an ultralight carbon-fibre-reinforced polymer are studied, while in [18], an optimal design of a serial-link robotic manipulator is evaluated.…”

“…In [11], a robotic system based on a parallel mechanism with redundant actuation is evaluated, showing possibilities to reduce electric power loss, peak torque of actuating joints and friction loss. [4] 2001 Conference paper Robot type --3-DoFs parallel manipulator and serial manipulator [5] 2014 Conference paper Robot type --Underactuated serial kinematics [11] 2015 Journal paper Robot type --Parallel manipulator with redundant actuation [19] 2015 Conference paper Robot type --Parallel manipulator with redundant actuation (3RRR) [15] 2010 Review Replacement Electric actuator -Generic mechatronic system [17] 2009 Journal paper Replacement Pneumatic -Generic pneumatic system [7] 2002 Conference paper Replacement Reduction of components weight Lighter arms Redundant serial robot (7 DoFs) [18] 2016 Conference paper Replacement Reduction of components weight Lighter arms Serial robot (5 DoFs) [1] 2007 Journal paper Replacement Reduction of components weight Lighter joints Redundant serial robot (7 DoFs) [6] 2008 Journal paper Replacement Reduction of components weight Lighter joints Redundant serial robot (7 DoFs) [2] 2016 Conference paper Replacement Moving the actuators at the base -Serial robot (3 DoFs) [10] 2015 Conference paper Replacement Moving the actuators at the base -Elbow joint (1 DoF) wrist joint (3 DoFs) [12] 1993 Journal paper Replacement Moving the actuators at the base -Redundant serial robot (7 DoFs) [16] 2012 Journal paper Replacement Moving the actuators at the base -Underactuated serial kinematics [20] 2015 Conference paper Addition Energy-storing devices Flywheel Serial robot (6 DoFs)-ABB IRB 140 [21] 2011 Conference paper Addition Energy-storing devices Flywheel Serial robot (3 DoFs)-crane [22] 2012 Conference paper Addition Energy-storing devices Hydraulic Generic hydraulic system [23] 2014 Journal paper Addition Energy-storing devices Hydraulic Generic hydraulic system [24] 2011 Conference paper Addition Energy-storing devices Pneumatic Hybrid pneumatic/electric system [25] 2016 Conference paper Addition Energy-storing devices Pneumatic Generic pneumatic system [26] 2013 Conference paper Addition Energy-storing devices Several Generic mechatronic system [27] 2011 Conference paper Addition Energy-storing devices Supercapacitor Mechatronic system (1 DoF)-elevator [28] 1997 Conference pap...…”

“…2. Hardware replacement: The re-design or substitution of components with more efficient components (i.e., more-efficient or lighter components, or both) [1,2,6,7,10,12,16,18]. 3.…”

The DLR MiroSurge - A robotic system for surgery

“…This video presents an in-house developed robotic system by the DLR (German Aerospace Center) designed for surgical applications named MiroSurge [1], see Fig. 2 and 3 .…”

Flexible-Link Robot Control Using a Linear Parameter Varying Systems Methodology

“…This requirement prevents any structural strengthening, which leads the flexibility effects to remain significant. Lightweight robots that are used in aerospace [2] and medical [3] applications typically exhibit deformable structures. The distributed deformation is referred to as link-flexibility in the field of robotics.…”