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An Adapting Mechanism to Manipulate Manual Wristed Laparoscopic Instruments by a Robotic Surgery System Publisher



Hanifeh S1 ; Alamdar A1 ; Farahmand F1 ; Mirbagheri A2
Authors

Source: International Conference of Control# Dynamic Systems# and Robotics Published:2017


Abstract

Sina is a robotic telesurgery system that accepts and works with conventional laparoscopic tools at its endeffector. This paper describes the design and analysis of an adapting mechanism for Sina, to enable manipulating a manual wristed laparoscopic instrument, i.e., Laparo-Angle by the system. After identification of the kinematics and dynamics characteristics of Laparo-Angle experimentally, .the design considerations of the adapting mechanism, including compatibility with the instrument (at one side) and the host robotic arm (at the other side), required kinematics and dynamics features, ease of tool replacement, etc., were studied and a conceptual design, based on the Agile Eye mechanism, was proposed. The forward and inverse kinematics analysis of the proposed mechanism revealed that it is capable of providing the desired workspace while meeting the design constraints. The workspace of the mechanism was a cone with an apex angle of 35 degrees, in which both the isotropy and manipulability indices were satisfying. The condition number and the Jacobean determinant of the mechanism within its workspace were lower than 1.4 and higher than 1, respectively. In general, the proposed mechanism was found to could satisfy the design requirements and constrains. © 2016 Avestia Publishing.
1. The Sina Robotic Telesurgery System, Handbook of Robotic and Image-Guided Surgery (2019)
3. Kinematic and Workspace Analysis of the Master Robot in the Sina Flex Robotic Telesurgery System, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society# EMBS (2021)
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