Abstract
Minimally invasive robots are currently used during the operations of human body in the entire world. There are various important mechanical quantities in the designing process of a medical robot structure, such as the dynamic safety factor, which is reckoned in this following article. Matlab program was used to calculate the torque in every joint with a DC motor, controlled with PID regulator for a given trajectory. Trajectory allows the effector to move in the tunnel of a tissue inside the patient’s chest (tunnel was obtained by using 3D Slicer computer program and CT scan diagnostics). Subsequently, the FEM (finite element method) was applied to enumerate transient conditions during the deformation of robots’ structure (RRRS). Numerical experiment of multi-objective optimization is introduced in the work, where two criteria, during the calculation, are very significant: first natural frequency and dynamic safety factor for multibody effector of a medical robot in motion, taking into account the inertia, damping, and stiffness reactions. The Pareto optimum for these criteria is calculated by using a genetic algorithm. The mini robot effector is finished with a scalpel.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Yuan, H., Li, Z., Wang, H., Song C.: Static modeling and analysis of continuum surgical robots. In: IEEE International Conference on Robotics and Biomimetics (ROBIO) (2016)
Elsayed, Y., Vincensi, A., Lekakou, C., Geng, T., Saaj, C., Ranzani, T., Cianxchetti, M., Menciassi, A.: Finite element analysis and design optimization of a pneumatically actuating silicone module for robotic surgery applications soft robotics, vol. 2 (2014)
Ilewicz, G.: Natural frequencies and multi-objective optimization of the model of medical robot with serial kinematical chain. Adv. Intell. Syst. Comput. 519, 371–379 (2017)
Ilewicz, G.: Multibody model of dynamics and optimization of medical robot to soft tissue surgery. Adv. Intell. Syst. Comput. 393, 129–134 (2016)
Ilewicz, G.: Modeling and controlling medical robot for soft tissue surgery and servicing the artificial organs. In: Proceedings of the 17th Mechatronika 2016, pp. 102–107. IEEE, Prague (2016)
Ki, S., Tan, Y., Deguet, A., Kazanzides, P.: Real-time image-guided telerobotic system integrating 3D slicer and the da vinci research kit. First IEEE Int. Conf. Robot. Comput. (2017). https://doi.org/10.1109/IRC.2017.73
Harlecki, A., Urbaś, A.: Modelling friction in the dynamics analysis of selected one-dof spatial linkage mechanism. Meccanica 52, 403–420 (2017)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Ilewicz, G., Harlecki, A. (2019). Full Dynamics and Optimization of a Controllable Minimally Invasive Robot for a Soft Tissue Surgery and Servicing Artificial Organs. In: Laukaitis, G. (eds) Recent Advances in Technology Research and Education. INTER-ACADEMIA 2018. Lecture Notes in Networks and Systems, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-319-99834-3_27
Download citation
DOI: https://doi.org/10.1007/978-3-319-99834-3_27
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99833-6
Online ISBN: 978-3-319-99834-3
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)