Workspace analysis for a new design laparoscopic robotic manipulator, “MU-LapaRobot1”
Issued Date
2011
Resource Type
Language
eng
Rights
Mahidol University
Suggested Citation
Chawaphol Direkwatana, Chumpon Wilasrusmee (2011). Workspace analysis for a new design laparoscopic robotic manipulator, “MU-LapaRobot1”. Retrieved from: https://repository.li.mahidol.ac.th/handle/20.500.14594/3377
Title
Workspace analysis for a new design laparoscopic robotic manipulator, “MU-LapaRobot1”
Author(s)
Advisor(s)
Abstract
This paper describes workspace analysis used for designing a compact
robot for laparoscopic surgery, called “MU-LapaRobot.” The overall design is
strictly based on surgical requirements which our specific workspace analysis also
plays an important role. The motion of laparoscopic tool creates a unique constraint
which is a remote-fulcrum point away from the robot at the small incision on
abdominal wall. Our robot consists of 3 sections; 1) 2-link passive planar
manipulator with level adjuster for locating the fulcrum point in 3D-space, 2) 2-
DOF distant-parallel mechanical linkage for generating a cone-shape workspace,
and 3) tool’s quick release for switching tool during the surgery. Our current study
and mechanical design is to develop the first stage of “Passive Laparoscopic Tool
Holder” with full motion constraint. The second stage is to improve and integrate
wire-driving and motorizing systems on the MU-LapaRobot. The third (final) stage
is focusing on robot controls, force feedback and human-machine interface. The
ultimate goal of this project is to develop an interchangeable surgical robots which
capable of human-robot collaboration and tele-operation.
Description
20th National Grad Research Conference, 2-3 February 2011 Mahidol University, Salaya