Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the use of...
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ACHIEVING DEXTEROUS MANIPULATION FOR MINIMALLY
INVASIVE SURGICAL ROBOTS THROUGH THE USE OF HYDRAULICS
Devin R. Berg*, Perry Y. Li, and Arthur G. Erdman Department of Mechanical Engineering
University of Minnesota – Twin Cities Minneapolis, MN
ASME Dynamic Systems and Control Conference 17 October 2012
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Surgery is becoming less invasive and more complicated.
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Use of robotics in surgery is continuing to become more prominent.
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Use of robotics in surgery is continuing to become more prominent.
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Hydraulics offers advantages for surgical manipulators.
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The components are housed within the manipulator itself.
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The backbone is assumed to take the lowest energy shape.
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The backbone is assumed to take the lowest energy shape.
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Artificial muscle actuators are used to maximize the force per area.
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Artificial muscle actuators are used to maximize the force per area.
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A novel 3D control valve manipulates feed pressure to the three actuators.
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The valve’s internal flapper opens and closes the orifices differentially.
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The valve’s internal flapper opens and closes the orifices differentially.
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The flow path for a given inlet/outlet passes to the actuator or to tank.
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The assembly of these components forms the surgical manipulator.
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Inertial dynamics are used to model motion of the distal end.
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The model can also be extended to 3D for more realistic simulation.
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Future work will pursue the expansion of this platform for robotic surgery.
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