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Review ListDesign, Fabrication, Modeling, and Control of a Soft Surgical Arm for Abdominal Surgery
Orang, Amir Mohammad | 2025
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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 58629 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Sayyaadi, Hassan
- Abstract:
- Other research has examined the category of soft robots and their use in various applications, including rehabilitation, the construction of artificial limbs, and the use of high versatility for the safe capture of objects and living organisms in any exploration atmosphere. Surgical robots have always drawn the attention of researchers over the past thirty years because they reduce errors during surgical operations and the injuries that result from them. These robots fall into a number of categories, including master and slave surgical robots.In the 1990s, the da Vinci robot was unveiled as a successful illustration of this type of robot. Following that, the medical robotics sector made daily progress in lessening the impacts of surgery. Subsequently, the challenge was renamed minimally invasive surgery (MIS). This project aims to design, model, simulate, and control a robotic arm made of soft components, one of the applications of which is abdominal surgical systems and its safe pick and place. In order to achieve optimal dimensions, using the intended working range and the silicon yield stress and static design criteria, the selected numbers for the thickness of the bending arm will be evaluated. Next, the modeling of the constant curvature assumption will be examined and a new mapping will be introduced and analyzed to eliminate the challenges of the constant curvature assumption. After extracting the inverse and direct kinematic equations, with their help, the dynamic equations will be extracted using the Lagrange method. The research is continued by designing a controller based on the modeling, the designed controller is designed based on the inverse dynamic method. In all honesty, the accuracy of the modeling was performed in the Abaqus mechanical analysis software, and the causes and roots of the differences between the modeling and reality have been discussed. The purpose of this research is to reduce the price of robotic arms used in the medical robotics industry and also to create a tool with high user safety in order to solve the challenge of minimally invasive surgery. Another goal is to review and analyze the modeling done in this field. Safe grasping, high adaptability, adaptability, no limitation in the number of degrees of freedom of robots and soft arms as a receiver, and the ability to use these soft arms in underwater environments are all advantages of working with soft robots that are analyzed and investigated in this research. Of course, designing a structurally optimal robotic arm compared to existing arms is also one of the other goals that is pursued
- Keywords:
- Minimally Invasive Surgery ; Surgical Robots ; Constant Curvature Assumption ; Controller Design ; Soft Robots
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