SURGICAL ROBOTICS UNDER FLUID POWER

Devin R. Berg Mechanical Engineering, University of Minnesota

Advised by: Dr. Perry Li and Dr. Arthur Erdman

Currently

Engineering & Technology Department University of Wisconsin - Stout

Menomonie, WI

Design of Medical Devices Conference 10 April 2013

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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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Vanderbilt University

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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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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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Planar Motion = Differential control

Axial Motion = Stiffness control

Two possible realizations of this design have been considered.

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The flow path for a given inlet/outlet passes to the actuator or to tank.

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The valve’s flapper opens and closes the orifices differentially.

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The valve’s flapper opens and closes the orifices differentially.

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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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Video: http://www.youtube.com/watch?v=YK23UKDsG8M

The ring based design was effective at regulating pressure to the 3 actuators.

21 Video: http://www.youtube.com/watch?v=EOEKpvOX45k Video: http://www.youtube.com/watch?v=Wa8W-58NXnI

Greater miniaturization is possible through hydraulics.

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