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Research Papers: Mechanisms and Robotics

Design of a Microrobotic Wrist for Needle Laparoscopic Surgery

[+] Author and Article Information
Matteo Zoppi1

PMAR Robot Design Research Group,2Department of Mechanics and Machine Design, University of Genova, Via all’Opera 15A, 16145 Genova, Italyzoppi@dimec.unige.it

Wiktor Sieklicki

PMAR Robot Design Research Group,2Department of Mechanics and Machine Design, University of Genova, Via all’Opera 15A, 16145 Genova, Italydarwin7@wp.pl

Rezia Molfino

PMAR Robot Design Research Group,2Department of Mechanics and Machine Design, University of Genova, Via all’Opera 15A, 16145 Genova, Italymolfino@dimec.unige.it

1

Corresponding author.

2

URL: www.dimec.unige.it∕PMAR

J. Mech. Des 130(10), 102306 (Sep 09, 2008) (8 pages) doi:10.1115/1.2965608 History: Received June 26, 2007; Revised May 29, 2008; Published September 09, 2008

This paper addresses the design of a microwrist for needle laparoscopic surgery (needlescopy) using microelectromechanical system technology and an original three degree of freedom, 3D architecture. Advancement in needlescopy drives the development of multi-DOF microtools 12mm in diameter with 3D mobility but standard available fabrication techniques are for 2.5D structures. Thus paper discusses the development steps and design solutions for the realization of the 3D wrist with available technology. A compliant mechanism is used, which is derived from a reference parallel kinematics mechanism architecture with three legs. A singular configuration of increased instantaneous mobility is exploited to achieve the desired 3D mobility. Alternative leg architectures are investigated to obtain satisfactory performance. The legs are fabricated as monolithic compliant structures and assembled to wrist base and end-effector. The definition of the leg geometry revealed a complex task. The steps to obtain the final design satisfying task requirements are detailed.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

(Right) Desired wrist freedoms and lenticular allowable-stress workspace; (left) detailed view of a section of the workspace with the hatched subarea indicating the constant-extrusion workspace

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Figure 2

Reference distribution of compliance (left) and comparison between FE and analytical modeling results (right) for H-leg

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Figure 3

Reference compliant mechanism with L-legs (left); L-leg with the original architecture and with modified displacement beams (right)

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Figure 4

Increase in displacement beam lengths using shifted J-legs (left) and overlapping legs (right)

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Figure 5

Final H-legs with design details

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Figure 6

Section of the wrist with details of push-rods, antagonistic wires, and leg-rod contacts

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Figure 7

Wrist FE simulation results: tilt by pushing one ((a1) and (a2)) and two ((b1) and (b2)) rods; inward extrusion (c1) by moving back all rods and outward extrusion (c2) by pushing all rods

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Figure 8

Isostress constant (minimum) extrusion tilting curves in the four actuation cases: (A) (active wires∕passive spring rods), (B) (active rods∕passive wires at constant tension 0.003N each), (C) (active rods∕passive spring wires), and (D) (active rods∕active wires)

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Figure 9

Clouds of the positions of the end-effector center of rotation with Actuations (B) and (D)

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Figure 10

Optical masks and the first prototype fabricated (tilted by one push-rod and in rest configuration

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