Optimization of a redundant serial spherical mechanism for robotic minimally invasive surgery

Carl A. Nelson, Med Amine Laribi, Said Zeghloul

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

1 Scopus citations

Abstract

Serial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting in an unsuitable compromise between avoiding collision with the patient and producing good kinematic and workspace characteristics. In this paper we propose a redundant serial spherical linkage to achieve this purpose and present a multi-objective optimization for achieving the aforementioned design goals. The sensitivity of the solution to uncertainties in the design parameters is investigated.

Original languageEnglish (US)
Title of host publicationComputational Kinematics - Proceedings of the 7th International Workshop on Computational Kinematics, 2017
EditorsSaid Zeghloul, Med Amine Laribi, Lotfi Romdhane
PublisherSpringer Netherlands
Pages126-134
Number of pages9
ISBN (Print)9783319608662
DOIs
StatePublished - 2018
Event7th International Workshop on Computational Kinematics, CK 2017 - Futuroscope-Poitiers, France
Duration: May 22 2017May 24 2017

Publication series

NameMechanisms and Machine Science
Volume50
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Other

Other7th International Workshop on Computational Kinematics, CK 2017
CountryFrance
CityFuturoscope-Poitiers
Period5/22/175/24/17

Keywords

  • Minimally invasive surgery
  • Redundant linkage
  • Serial spherical mechanism
  • Surgical robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

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  • Cite this

    Nelson, C. A., Laribi, M. A., & Zeghloul, S. (2018). Optimization of a redundant serial spherical mechanism for robotic minimally invasive surgery. In S. Zeghloul, M. A. Laribi, & L. Romdhane (Eds.), Computational Kinematics - Proceedings of the 7th International Workshop on Computational Kinematics, 2017 (pp. 126-134). (Mechanisms and Machine Science; Vol. 50). Springer Netherlands. https://doi.org/10.1007/978-3-319-60867-9_15