Abstract
In this paper, we present the design process followed to conceive a lighting robotic arm dedicated to operating rooms. During a surgical procedure, the use of a high quality lighting system is essential to the successful completion of the surgical task. Indeed, the intensity and incidence of the light projection must be controlled according to the surgeon needs. However, surgeons cannot directly manipulate the lighting dome by hand because of aseptic reasons. First of all, we present the medical specifications used to define the technological and robotic needs, provided from real experiments and observations in operating room. Then, a complete topological synthesis has been applied to choose the most adequate kinematic solution. A kinematic simulator, as well as a prototype, have been developed to validate the effectiveness of the selected solution. Finally, we propose the use of a dynamic analysis, based on a Newton-Euler algorithm, to correctly choose the joint actuators.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Collumeau, J.-F., et al.: Hand-gesture recognition: comparative study of global, semi-local and local approaches. In: 7th International Symposium on Image and Signal Processing and Analysis (ISPA), Zagreb, Croatia, pp. 247–252 (2011)
Collumeau, J.-F., et al.: Hand gesture recognition using a dedicated geometric descriptor. In: 3rd International Conference on Image Processing Theory, Tools and Applications (IPTA), Istanbul, Turkey, pp. 287–292 (2012)
Collumeau, J.-F., et al.: Simulation interface for gesture-based remote control of a surgical lighting arm. In: IEEE International Conference on Systems, Man, and Cybernetics, Cardiff, United Kingdom, pp. 4670–4675 (2013)
Clavel, R.: Device for movement and displacing of an element in space. US Patent n° 4976582, date of patent: 11 December 1990
Allaf, M.E., et al.: Laparoscopic visual field: voice versus foot pedal interfaces for control of the AESOP robot. Surg. Endosc. 12, 1415–1418 (1998)
Nouaille, L., et al.: Design process for robotic medical tool guidance manipulators. Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 230(2), 259–275 (2015)
Sandoval, J., Nouaille, L., Poisson, G., Parmantier, Y.: Kinematic design of a lighting robotic arm for operating room. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds.) Computational Kinematics. Mechanisms and Machine Science, vol. 50. Springer, Cham (2018)
Craig, J.: Introduction to Robotics: Mechanics and Control, 2nd edn. Addison-Wesley Longman Publishing Co., Inc., Boston (1989)
Poisson, G., et al.: Suspension de plafond à cinématique améliorée pour porter une pièce d’équipement. In: Institut National de la propriété intellectuelle, France, patent application N° BR-27301/FR (2016)
Acknowledgments
This research was supported by the Région Centre-Val de Loire (France), in the context of a project named SMILE, meaning Sterile Manipulating Interface for Lighting Equipment.
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
Sandoval, J., Nouaille, L., Poisson, G., Parmantier, Y., Magnain, B. (2019). Design Process of a New Lighting Robotic Arm for Operating Room. In: Gasparetto, A., Ceccarelli, M. (eds) Mechanism Design for Robotics. MEDER 2018. Mechanisms and Machine Science, vol 66. Springer, Cham. https://doi.org/10.1007/978-3-030-00365-4_37
Download citation
DOI: https://doi.org/10.1007/978-3-030-00365-4_37
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-00364-7
Online ISBN: 978-3-030-00365-4
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)