Mechanical and Kinematic Design of Surgical Mini Robotic Manipulator used into SP-LAP Multi-DOF Platform for Training and Simulation

摘要

Surgical robotics is the new age of minimally invasive procedures, for this reason, it is important to acquire fundamental skills using training and simulation. Therefore, a research study was developed to present the design of 2 robotic arms, which are used into SP-LAP training platform for remote control haptic manipulation in order to magnify natural eye-hand-instrument alignment, boost motor dexterity and minimally invasive, enhance ergonomics, ensure feasibility, safety, and patient risk reduction. The proposed medical robotic manipulator has 3 degrees of freedom (DOF), 4 links and 3 joints, which have 9 DOF in combination with the multi-DOF system, to promote the application for new surgical techniques and approaches, based on the ergonomics during triangulation. In conclusion, the analysis is focused on mechanical 3D design and kinematics. The next step of the project is to evaluate adding 2 DOF more, and also work on the mechatronic integration of sensors and actuators, and then, perform test and validation of the cyber-physical system.