Open AccessDesign and modeling of robotic surgical system for transurethral operations
Author(s) -
Aleksey Kabanov,
Denis A. Tokarev,
Vadim Kramar
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1661/1/012113
Subject(s) - robot , surgical robot , surgical instrument , simulation , feature (linguistics) , computer science , torque , control engineering , engineering , artificial intelligence , mechanical engineering , linguistics , philosophy , physics , thermodynamics
The paper examines the design and modeling of the robotic surgical system that is used for transurethral operations with resectoscopes. The proposed system consists of a robot-manipulator and a control system for a surgeon. A design feature of the robot-manipulator is the presence of free rotation units that ensure the mobility of the instrument together with the holder unit. This design eliminates a patient injury when one is displaced relative to the initial position. Another important feature of the proposed surgical robotic system is the ability to use an existing surgical instrument (resectoscope). The article describes the design, as well as the results of the modeling of the robot in the V-rep system. The parameters of the forces and torques of the executive system of the robot are obtained by simulation.