This research presents the design and prototype development of a 5-degrees-of-freedom instrument for robot-assisted minimally invasive surgery to demonstrate novel kinematic capability. Five stepper motors drive winches mounted distally from the end effector, actuating each joint independently through cables. We describe the mechanical and kinematic design of the system with considerations for surgical use and fabrication techniques. Additionally, we implement a control system and describe the results of kinematic testing. We highlight aspects of manufacturing necessary to produce a surgery-ready iteration. Future work involves further testing, modifying the design to use industrial and biocompatible materials, and integrating the instrument with a surgical manipulator.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Page, Calvin
• Johannessen, Nicholas
• Kleiman, Joshua
• Crane, Cameron

Subject

• Innovation
• Industry
• Health
• Well-Being

Publisher

• Worcester Polytechnic Institute

Identifier

• 118990
• E-project-032024-112145

Mot-clé

• Medical Devices
• Minimally Invasive Robotic Surgery
• Robotic Surgical Instrument
• Serial Cable-Driven Robotics

Advisor

• Zheng, Yihao
• Powell, Adam Clayton
• Johnson, Sharon

Year

• 2024

Center

• Kyoto, KUAS Japan MQP

Sponsor

• Kyoto University of Advanced Science

UN Sustainable Development Goals

• 3 - Good Health and Well-being
• 9 - Industry, Innovation and Infrastructure

Date created

• 2024-03-20

Resource type

• Major Qualifying Project

Major

• Mechanical Engineering
• Biomedical Engineering
• Robotics Engineering

Source

• E-project-032024-112145

Rights statement

• In Copyright