A novel compliant surgical robot: Preliminary design analysis | Zendy

Akim Kapsalyamov | Zendy; Shahid Hussain | Zendy; Prashant K. Jamwal | Zendy

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A novel compliant surgical robot: Preliminary design analysis

Author(s) -

Akim Kapsalyamov,

Shahid Hussain,

Prashant K. Jamwal

Publication year - 2019

Publication title -

mathematical biosciences and engineering

Language(s) - Uncategorized

Resource type - Journals

SCImago Journal Rank - 0.451

H-Index - 45

eISSN - 1551-0018

pISSN - 1547-1063

DOI - 10.3934/mbe.2020103

Subject(s) - parallelogram , workspace , mechanism (biology) , surgical robot , robot , simulation , control engineering , computer science , invasive surgery , engineering , artificial intelligence , surgery , medicine , philosophy , epistemology

A robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is also developed. The operating workspace of robotic surgical system is determined considering the physical constraints imposed by mechanical joints. The simulation results show that the robotic system meets the design requirement. This research will lay a good foundation for the development of a compliant surgical robot to assist in MIS.

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