Dimensional optimization of a two-arm robot for single-site surgery operations

Christophe Drouin, Abolfazl Pourghodrat, Sylvain Miossec, Gérard Poisson, Carl A. Nelson

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Unlike open surgery, minimally invasive surgery (MIS) involves small incisions through which instruments are passed to perform surgery. This technique is preferred since it reduces postoperative pain and recovery time. Laparoendoscopic single-site (LESS) surgery is the next step in MIS; a single incision is created instead of multiple access points for allowing the instruments to enter the peritoneal cavity. However, such minimally invasive techniques force the surgeon to perform more complex movements, hence the interest to use robotic systems. Design of robots for LESS is challenging to avoid collisions, reduce weight, and improve compactness while respecting the technical requirements (minimum forces, velocities). In this paper, we present the dimensional synthesis of a two-arm robot used for LESS. Each arm has a 2R-R-R architecture with link lengths optimized to respect the workspace constraints and maximize compactness while improving the performance in terms of forces and velocities (kinetostatic properties).

Original languageEnglish (US)
Title of host publication37th Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers
ISBN (Print)9780791855935
DOIs
StatePublished - 2013
EventASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013 - Portland, OR, United States
Duration: Aug 4 2013Aug 7 2013

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume6 A

Conference

ConferenceASME 2013 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2013
CountryUnited States
CityPortland, OR
Period8/4/138/7/13

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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