![Design of Medical Robots
[Ch 5, Ref 12]
Presenter: Seyed Mohammad Zargar
Supervisor: Dr. Sadeghian
Fall 2017
Under the name of the Lord, the Merciful, the Majestic](https://image.slidesharecdn.com/designofmedicalrobots-171215094604/85/Design-of-medical-robots-1-320.jpg)
Design of medical robots
- 1. Design of Medical Robots [Ch 5, Ref 12] Presenter: Seyed Mohammad Zargar Supervisor: Dr. Sadeghian Fall 2017 Under the name of the Lord, the Merciful, the Majestic
- 2. Introduction • Medical devices is to have close interaction with a human environment facing unpredictable behavior. • A complex system consisting of Articulate and motorized mechanical structure Human-machine interface and instruments Electronic components Software controller
- 3. Introduction Constraints Easily transportable and quickly removed for intraoperative complications Limited amount of workspace Safety Various functionalities needed for diverse types of operation Sterilization Environment crowded by other medical equipment Different positioning
- 4. Introduction How to achieve a medico-surgical robot ?? The modeling or the characterization of gestures and interactions The selection or the design of kinematics and the actuation adapted to the requirements deriving from the characterization of gestures The synthesis of a controller and the definition of the Human-machine interface
- 5. 1. From the characterization of gestures to the design of robots Surface tracking -> Skin harvesting Benefits to surgeon: Downscaling the force and displacement, surgeon’s tremor filtering Benefits to the patient: Minimization of scarring Kinematic and dynamic specification Analysis of the gesture Kinematic choices Dermarob Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier (LIRMM) A dermatome with an electric motor to vibrate the blade and perform skin incision. Requirements: 6 DOF, to 50 N force, Velocity ~ cm/s A force sensor + a cable actuated velocity sensor
- 6. 1. From the characterization of gestures to the design of robots Conventional Serial Kinematic Manipulator Arms • Anthropomorphic: 6 DOF, Spherical accessible workspace, Simpler kinematic • SCARA: 4 DOF, Cylindrical accessible workspace, Easier management of collision Kinematic choices Anthropomorphic Kinematic SCARA Kinematic
- 7. 1. From the characterization of gestures to the design of robots Manipulator Arms with Parallel Architecture • Easy to design • Capable of reaching very high velocities and accelerations • High resolution and accuracy • Can be implemented for various scales and uses Kinematic choices Parallel Kinematic
- 8. 1. From the characterization of gestures to the design of robots Kinematic Architecture with a Remote Center of Motion • The RCM is imposed by the kinematic structure of the mechanism or the environment or is virtual and defined by a combination of sensors, models and control algorithm. Kinematic choices
- 9. 1. From the characterization of gestures to the design of robots Manipulators Arm with Redundant Architecture • More DOF than the need • Avoids collision Kinematic choices a hybrid serial-parallel hyper-redundant active structure
- 10. 2. Design Methodologies Different constraints Desired level of cooperation between the operator and the robot Multiplicity of possible technical solutions Thus, No Single Recipe! 1. Concept Selection Objectives tree method Mimetic approach
- 11. 2. Design Methodologies Different constraints Desired level of cooperation between the operator and the robot Multiplicity of possible technical solutions Thus, No Single Recipe! 1. Concept Selection Objectives tree method Mimetic approach
- 12. 2. Design Methodologies 2. Optimization of design parameters Single-objective synthesis Considering single objective criterion such as workspace, the manipulability, the duration of the movement, a safety distance, etc. We can use the optimization techniques in this regard like gradient or simplex or genetic algorithms. Multi-objective synthesis For meeting the objectives that are conflicting such as transmitting important effort efforts while being small in size and safe during operation
- 13. 3. Technological Choices 1. Actuators Reversibility Stiffness Compensation of the tool/tissue interaction force Haptic feedback Size and type: electric, pneumatic, etc. 2. Sensors Two classes of problems 1. The measurement of interaction forces directly on the organ or tissue with the design of miniature force sensors 2. The integration of new vision systems to monitor physiological movements, intra-cavity ultrasound probes, MRI, CT scanner, etc. 3. Material Toxicity, Transparency, Not producing artifacts, etc.
- 14. Security and Dependability Electromechanical, Electrical and Software safety have to be into consideration 1. Redundancy into perception and control More secure but less reliable 2. Applying reliable basic components 3. Designing intrinsically safe components “Harmonic drive” type gears to limit the velocity of the robot