Design and Analysis of a 5-DoFs Robot-Assisted Surgery Tool

Manger, Charles

Student Work

Design and Analysis of a 5-DoFs Robot-Assisted Surgery Tool

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Minimally Invasive Surgery (MIS) is advantageous compared to open surgery as it decreases postoperative pain, bleeding, infection risk, and the length of patient’s hospital stays. However, it is difficult to perform and necessitates the use of robotic instruments to aid surgeons in performing complex tasks such as cutting and suturing. This research aims to design a robot-assisted surgical tool that can be attached as an end-effector to an existing surgical manipulator and allow the operator approach organs in multiple configurations, reach and operate in the region behind another organ, and be able to perform complex movements like stitching in the suturing task. To achieve this, we formulate the design requirements and conclude that five degrees-of-freedom (DoFs) are required to perform the above-mentioned tasks with dexterity. We synthesize potential kinematic arrangements to achieve 5-DoFs at the tip of the surgical instrument. We develop the static force analysis of the final design and perform manipulability, singularity, and workspace analyses to identify the suitability of the proposed design to the surgical needs. To be able to seamlessly integrate it with the surgical manipulator, the surgical tool is driven by a combination of gear-based and tendon-driven transmission. To evaluate the effectiveness of the proposed design, we design a CAD model of the 5-DoF surgical tool. In future experiments, we will fabricate a 3-D printed prototype and integrate it with a test-bench to perform 5-DoFs movements.

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.

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