An actuated robot arm is designed for use as a gross positioning macro-manipulator that can carry, appropriately orient, precisely position, and firmly “lock” in place different types of micro-robots and surgical tools necessary for applications in minimally invasive therapy. With a simple manipulation protocol, the clinician can easily operate the robot in manual mode. A remote control mode can also be enabled for teleoperation of the robot. The robot’s normally locked braking system and the simple quick-release joint enhance its safety features for emergencies and power shutdown. Robot workspace analysis showed that the singularity regions are outside the usable work envelope of the robot. Performance analysis showed that the robot operates with an average displacement accuracy of 0.58 mm and a roll, pitch, and yaw angular accuracies of 0.26 deg, 0.26 deg, and 0.38 deg, respectively. The sophisticated configuration and joint architecture of the arm enable it to perform and interact efficiently with the constrained and limited workspace of surgical environments. The special features of the proposed robot make it well suited for use with new surgical tools and micro-robots for a range of medical interventions.
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e-mail: basem_yousef@uaeu.ac.ae
e-mail: rajni@eng.uwo.ca
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December 2010
Research Papers
A Manipulator for Medical Applications: Design and Control
Basem Fayez Yousef,
Basem Fayez Yousef
Department of Mechanical Engineering,
e-mail: basem_yousef@uaeu.ac.ae
United Arab Emirates University
, P.O. Box 17555, Al-Ain, United Arab Emirates
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Rajni V. Patel,
e-mail: rajni@eng.uwo.ca
Rajni V. Patel
Canadian Surgical Technologies and Advanced Robotics (CSTAR)
, 339 Windermere Road, London, ON, N6A 5A5, Canada; Department of Electrical and Computer Engineering, University of Western Ontario
, 1151 Richmond Street, Suite 2, London, ON, N6A 5B9, Canada
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Mehrdad Moallem
Mehrdad Moallem
Mechatronics Systems Engineering,
e-mail: mmoallem@sfu.ca
Simon Fraser University Surrey
, 250-13450 102nd Avenue, Surrey, BC, V3T 0A3, Canada
Search for other works by this author on:
Basem Fayez Yousef
Department of Mechanical Engineering,
United Arab Emirates University
, P.O. Box 17555, Al-Ain, United Arab Emiratese-mail: basem_yousef@uaeu.ac.ae
Rajni V. Patel
Canadian Surgical Technologies and Advanced Robotics (CSTAR)
, 339 Windermere Road, London, ON, N6A 5A5, Canada; Department of Electrical and Computer Engineering, University of Western Ontario
, 1151 Richmond Street, Suite 2, London, ON, N6A 5B9, Canadae-mail: rajni@eng.uwo.ca
Mehrdad Moallem
Mechatronics Systems Engineering,
Simon Fraser University Surrey
, 250-13450 102nd Avenue, Surrey, BC, V3T 0A3, Canadae-mail: mmoallem@sfu.ca
J. Med. Devices. Dec 2010, 4(4): 041001 (10 pages)
Published Online: October 12, 2010
Article history
Received:
January 20, 2010
Revised:
August 9, 2010
Online:
October 12, 2010
Published:
October 12, 2010
Citation
Yousef, B. F., Patel, R. V., and Moallem, M. (October 12, 2010). "A Manipulator for Medical Applications: Design and Control." ASME. J. Med. Devices. December 2010; 4(4): 041001. https://doi.org/10.1115/1.4002492
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