Surgical Robotics Under Fluid Power

Existing robotic surgical platforms face limitations which include the balance between the scale of the robot and its capability. These limitations can be overcome by taking advantage of fluid power as an enabling technology with its inherent power density and controllability. The adaptation of fluid power for this purpose involves many challenges such as miniaturization of the necessary components and identifying the unique requirements of the surgical field. These challenges were explored through the design of a fluid powered surgical robot.

Cite: http://dx.doi.org/10.6084/m9.figshare.709015

Transcript

1. 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 1
2. Surgery is becoming less invasive and more complicated. 2
3. Use of robotics in surgery is continuing to become more prominent. 3
4. Use of robotics in surgery is continuing to become more prominent. 4 Vanderbilt University
6. Hydraulics offers advantages for surgical manipulators. 6
7. The components are housed within the manipulator itself. 7
9. Artificial muscle actuators are used to maximize the force per area. 9
10. Artificial muscle actuators are used to maximize the force per area. 10
12. A novel 3D control valve manipulates feed pressure to the three actuators. 12 Planar Motion = Differential control Axial Motion = Stiffness control
13. Two possible realizations of this design have been considered. 13
14. The flow path for a given inlet/outlet passes to the actuator or to tank. 14
15. The valve’s flapper opens and closes the orifices differentially. 15
16. The valve’s flapper opens and closes the orifices differentially. 16
18. The assembly of these components forms the surgical manipulator. 18
19. Inertial dynamics are used to model motion of the distal end. 19
20. The model can also be extended to 3D for more realistic simulation. 20 Video: http://www.youtube.com/watch?v=YK23UKDsG8M
21. 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
22. Greater miniaturization is possible through hydraulics. 22