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Design and Fabrication of Haptic Master Robot for Telesurgery with Induction of Open Surgery Feeling

Hadavand, Mostafa | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41958 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Farahmand, Farzam; Salarieh, Hassan
  7. Abstract:
  8. With the increasing trend toward Minimally Invasive Surgery (MIS) procedures in last 2 decades, the need to develop new robotic systems to facilitate such surgeries is more and more recognized. The aim of developing robotic surgery systems is not to replace surgeon with robots. Thus, the robotic surgery systems have the approach of master and slave robots. One of the main deficiencies of existing robotic surgery systems is the lack of sense of touch during the surgery. Consequently, the surgeon cannot touch the tissues to examine the quality of surgery .Hence This project describes the design and development of a 5 DOF force-reflective master robot (RoboMaster1) for haptic telesurgery applications. A two-double parallelogram robot is introduced including a novel mechanism at the base for producing and control of the end effector’s linear motion. This eliminates the deficiencies caused due to suspending massive actuators at the end effector or cabling from the base. The kinematics and work space of the system were analyzed and a prototype was developed for primary practical evaluations. The results obtained from SimMechanic showed that the system can effectively simulate the surgeon’s hand maneuvers inside the abdominal cavity with a Remote Center of Motion (RCM) located at the backside. With this important feature, the system is expected to facilitate the key hole surgeries by eliminating the need for inverse and/or scaled maneuvers during minimally invasive surgeries
  9. Keywords:
  10. Force Feedback ; Robotic Telesurgery ; Open Surgery Simulation

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