Laparoscopic robotized instrument
Journal Title: Proceedings in Manufacturing Systems - Year 2017, Vol 12, Issue 1
Abstract
Robot-assisted surgery has many advantages over conventional surgery: greater spatial accuracy, dexterity and precision reliability, reproducibility and ultimately better patient outcomes. Investigations of current instruments for robot-assisted surgery such as daVinchi and ZEUS are indicated to have some technological deficiencies which must be overcome. The main objective of this work is focused on improving some technical deficiencies of existing robotized surgical instruments. For this reason we design a novel robotized instrument for laparoscopic surgery with better mechanical characteristics. In contrast to EndoWrist technology by Intuitive Surgical Incorporation – USA for daVinchi instruments (three orthogonal rotations) we offer other decision of the construction. The laparoscopic robotized instrument that was designed provides a kinematic structure with R ┴ R ║ R, which avoids additional rolls. As a consequence of the limitations by the operating environment - the manipulation is performed in a narrow working space inside the patient’s body through small surgical instruments, the motors are situated in the base of the instrument, which is disposed outside of the troacar, respectively, outside the human body. The model allows obtaining the optimal working area of this instrument and force feedback control. By developing of a novel type of specialized instrument for robots we have created more compact, simple, cheaper and easier robotic instruments than before. The paper includes a structure of a laparoscopic robotized instrument and describes the basic movements in the wanted working area. A kinematic-structural analysis of a novel construction with autonomous and dependent movement will be presented. Transfer functions are determined through a control system which provides control by the operator movements. In this case we have also developed a simulation program that outlines the workspace and the possible actions there. This program is not an object of present paper.
Authors and Affiliations
Veronika Ivanova, Ivan Chavdarov, Vesselin Pavlov
Keywords
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