Research Papers

A Manipulator for Medical Applications: Design and Control

[+] Author and Article Information
Basem Fayez Yousef

Department of Mechanical Engineering, United Arab Emirates University, P.O. Box 17555, Al-Ain, United Arab Emiratesbasem_yousef@uaeu.ac.ae

Rajni V. Patel

 Canadian Surgical Technologies and Advanced Robotics (CSTAR), 339 Windermere Road, London, ON, N6A 5A5, Canada; Department of Electrical and Computer Engineering, University of Western Ontario, 1151 Richmond Street, Suite 2, London, ON, N6A 5B9, Canadarajni@eng.uwo.ca

Mehrdad Moallem

Mechatronics Systems Engineering, Simon Fraser University Surrey, 250-13450 102nd Avenue, Surrey, BC, V3T 0A3, Canadammoallem@sfu.ca

J. Med. Devices 4(4), 041001 (Oct 12, 2010) (10 pages) doi:10.1115/1.4002492 History: Received January 20, 2010; Revised August 09, 2010; Published October 12, 2010; Online October 12, 2010

An actuated robot arm is designed for use as a gross positioning macro-manipulator that can carry, appropriately orient, precisely position, and firmly “lock” in place different types of micro-robots and surgical tools necessary for applications in minimally invasive therapy. With a simple manipulation protocol, the clinician can easily operate the robot in manual mode. A remote control mode can also be enabled for teleoperation of the robot. The robot’s normally locked braking system and the simple quick-release joint enhance its safety features for emergencies and power shutdown. Robot workspace analysis showed that the singularity regions are outside the usable work envelope of the robot. Performance analysis showed that the robot operates with an average displacement accuracy of 0.58 mm and a roll, pitch, and yaw angular accuracies of 0.26 deg, 0.26 deg, and 0.38 deg, respectively. The sophisticated configuration and joint architecture of the arm enable it to perform and interact efficiently with the constrained and limited workspace of surgical environments. The special features of the proposed robot make it well suited for use with new surgical tools and micro-robots for a range of medical interventions.

Copyright © 2010 by American Society of Mechanical Engineers
Topics: Robots
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Figure 1

Schematic diagram of a robotic system for image-guided robot-assisted brachytherapy

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Figure 2

Macro-robot joint structure and components

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Figure 3

The macro-robot’s high dexterity enables efficient functioning in a constrained surgical space such as in prostate brachytherapy

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Figure 4

The robot folds back, occupying minimal storage space

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Figure 5

The robot can be used for several surgical procedures such as ablative procedures for lung cancer treatment

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Figure 6

The frame assignment used to derive the dynamic model of the robot

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Figure 7

Friction torque versus joint velocity for joint j

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Figure 8

Joint friction compensation is defined as a function of the joint velocity

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Figure 9

SolidWorks is used as a GUI, whereby a design table is linked to the CAD model and is updated according to the joint angle readings of the CAD model

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Figure 10

Partitioned PID joint level controller model used for autonomous/remote control modes

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Figure 11

Joint 4 tracking response under partitioned PID joint control: (a) joint angle tracking response and (b) tracking error

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Figure 12

Robot manipulability analysis using (a) condition number and (b) Jacobian matrix determinant

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Figure 13

(a) The macro-arm positioned at a target point i and the {origin} reference frame is attached to the table. (b) For each target point i, the coordinates of five arbitrary points were determined, where three points were used to define frame {A} that describes the actual orientation of the end effector. (c) The relationship between the actual location frame {A}, the theoretical location frame {CAD} of the end effector, and the reference frame {origin}.

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Figure 14

Macro-robot is loaded with a 6 kg dead weight for performance evaluation



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