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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