Determining the design specifications for mechanical polyarticulated system compatible with minimally invasive surgery

Abstract

After some considerations regarding the compatibility of robots with minimally invasive intervention, this paper presents a methodology to design mechanical polyarticulated modular system, with emphasis on functional requirements and technical specifications. The methodology is based primarily on determining the number of degrees of freedom, operating space volume (motion) and kinematic analysis of multi body models of the robotic arm. Considered robotic arm with ball joint includes a lot of similar elements adjacent to rigid vertebrae interconnected by cables (wires), arranged in series. Each vertebra is made of inverse (opposite) segments single or double curved (spherical surfaces). By combining the unique configuration of the vertebrae provide robotic arm the ability to tackle any route defined in 3D space. Determination of operating space is made numerically by formulating a binary representation. Kinematic analyzes are used to define the model's ability to perform in a satisfactory and acceptable precision movements for exploration and interventions in a limited space, making it possible to define the technical design specification. Simplicity and small size are advantageous for reliability, security, quick installation and ease of use. © Springer Science+Business Media Dordrecht 2013.