Design, Kinematic, Dynamic and Stiffness Analysis of a 5-DOF Single-incision Laparoscopic Surgery Robot

Heqiang Tian, Chenling Zheng, Jiakun Jiang, Jianyong Li, Yan Li, Yanan Yao

Abstract


In order to further reduce the incisions of laparoscopic surgery and the possibility of infection, the organic combination of single-incision laparoscopic surgery (SILS) and robotics has made the degree of minimally invasive surgery further improved. A new 5-DOF single-incision laparoscopic surgery robot was designed based on Axiomatic Design Theory, whose structure consisting of the movement mechanism, the endoscope and the position and pose adjustment mechanism. The robot parts are connected in series and parallel, allowing a pivotal motion of the endoscope in the center of the robot for realizing the incision. In order to achieve a performance optimization and a dynamic control of the single-incision laparoscopic surgical robot, the kinematics and dynamic modeling and dynamic stiffness analysis of the robot are especially important. The forward kinematics equation, inverse kinematics equation and Jacobian matrix of the SILS robot are derived based on D-H method and geometric method, and the kinematics numerical simulation is carried out by Matlab. The dynamic equation of the robot is derived by Kane method. Subsequently, a numerical simulation of the robot dynamics equation is performed, with its virtual prototype utilized to set the motion plan of the robot mechanism. After robot’s dynamic simulation, the numerical changes of the driving force and torque for each robot’s moving mechanism are obtained. The performed simulation results further verify the correctness of the established robot’s dynamic model. Finally, utilizing the above methods, the dynamic stiffness model and evaluation index of the robot are determined, and the dynamic stiffness of the robot is analyzed and evaluated. The results of the kinematics, dynamic and stiffness analysis of the SILS robot further validate that the 5-DOF SILS robot has a reasonable structure, motion and sufficient stability to meet the needs of single-incision laparoscopic surgery.

Keywords


Abdominal surgical robot; Axiomatic Design Theory; Kinematics; Dynamics; Stiffness

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