Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the use of...
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![Page 1: Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the use of Hydraulics](https://reader033.fdocuments.in/reader033/viewer/2022042816/5591d57e1a28aba32a8b45c7/html5/thumbnails/1.jpg)
ACHIEVING DEXTEROUS MANIPULATION FOR MINIMALLY
INVASIVE SURGICAL ROBOTS THROUGH THE USE OF HYDRAULICS
Devin R. Berg*, Perry Y. Li, and Arthur G. Erdman Department of Mechanical Engineering
University of Minnesota – Twin Cities Minneapolis, MN
ASME Dynamic Systems and Control Conference 17 October 2012
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Surgery is becoming less invasive and more complicated.
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Use of robotics in surgery is continuing to become more prominent.
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![Page 4: Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the use of Hydraulics](https://reader033.fdocuments.in/reader033/viewer/2022042816/5591d57e1a28aba32a8b45c7/html5/thumbnails/4.jpg)
Use of robotics in surgery is continuing to become more prominent.
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![Page 5: Achieving Dexterous Manipulation for Minimally Invasive Surgical Robots Through the use of Hydraulics](https://reader033.fdocuments.in/reader033/viewer/2022042816/5591d57e1a28aba32a8b45c7/html5/thumbnails/5.jpg)
Hydraulics offers advantages for surgical manipulators.
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The components are housed within the manipulator itself.
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The backbone is assumed to take the lowest energy shape.
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The backbone is assumed to take the lowest energy shape.
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Artificial muscle actuators are used to maximize the force per area.
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Artificial muscle actuators are used to maximize the force per area.
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A novel 3D control valve manipulates feed pressure to the three actuators.
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The valve’s internal flapper opens and closes the orifices differentially.
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The valve’s internal flapper opens and closes the orifices differentially.
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The flow path for a given inlet/outlet passes to the actuator or to tank.
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The assembly of these components forms the surgical manipulator.
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Inertial dynamics are used to model motion of the distal end.
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The model can also be extended to 3D for more realistic simulation.
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Future work will pursue the expansion of this platform for robotic surgery.
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