Workspace analysis for a new design laparoscopic robotic manipulator, “MU-LapaRobot1”

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.