Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.
-
date post
21-Dec-2015 -
Category
Documents
-
view
226 -
download
5
Transcript of Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.
![Page 1: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/1.jpg)
Hexapod Structures in Surgical Applications
Presented by
Sanjay Shirke
Muhammad Umer
![Page 2: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/2.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
1800’s –Mathematician Augustine Cauchy studies rigidity of polygons
1947 – Dr. Eric Gough applies the parallel kinematic platform to a tire testing machine developed working under Dunlop.
1962 – Klaus Cappel develops vibration equipment for Franklin Institute.
1965 – Stewart platform developed for aircraft simulation. 1995 – Frauhofer Institute in Stuttgart, Germany approaches
Physik Instrumente to develop the surgical robot.
![Page 3: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/3.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
Fig.1. 1949-2000 (a)The original Dunlop tire testing machine invented by Eric Gough, (b) The modern tire testing machine.
(a) (b)
![Page 4: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/4.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
Fig.2. 1965 -1970 (a)The original Stewart Platform for aircraft simulation, (b) later incorporating the design of an octahedral hexapod.
(a)
(b)
![Page 5: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/5.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
Fig.3. 6 DOF motion achieved through 6 strut linear actuators. The resulting rapid, submicron multi-axis translation and rotation makes the hexapod ideal for precision surgical applications.
![Page 6: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/6.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
Universal Joints - offer 2 rotational DoF
Linear Hydraulic Actuators - offer 2 DoF: 1 translation and 1 rotation
Source: Marks’ Standard Handbook for Mechanical Engineers
![Page 7: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/7.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Hexapods – Engineering and Kinematic PrinciplesMobility – The Kutzbach Criterion:
n = 12 (struts) + 1(base) + 1(platform) = 14
c = 3 x 6 x 4 = 72
M = 6(14 – 1) – 72 = 6 DoF
j
iicnM
1
)1(6
Quantity Occurrences Constraints # DoF Description
6 Base: Yoke 1/ Yoke 2 Universal Joint 4 2 RR
6 Strut Lower end (Y2) / Strut upper end (Y3) 4 2 TR
6 Strut Upper end (Y3) / Platform Universal Joint (Y4) 4 2 RR
![Page 8: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/8.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Hexapods – Engineering and Kinematic PrinciplesRange of Motion and
ResolutionModels M-800.11 M-800.12
Travel X [mm] ±35 ±64
Travel Y [mm] ±35 ±59
Travel Z [mm] ±14 ±26
Travel Theta-X/Theta-Y [°] ±8 ±20
Travel Theta-Z [°] ±25 ±45
Actuator stroke [mm] ±13 ±25
Resolution X/Y [µm] 1 2
Resolution Z [µm] 0.5 1
Resolution Theta-X/Theta-Y/Theta-Z [arcsec] 1 1.4
Fig 4. The Physik Instrumente M-800.11
![Page 9: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/9.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Hexapods – Engineering and Kinematic Principles
Design Criteria Minimize mass and inertia for
maximum speed and acceleration.
Strut Operation – linear hydraulic actuators
Joint Design – Universal or Ball and Socket
Integrity tested with CAD, FEA, and laser vibrometery tools.
![Page 10: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/10.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Is the Hexapod really worth it?
advantages Complete range of motion. High precision and
accuracy Computer visualization
tools High stiffness High load/weight ratio
limitations Friction Length of struts Dynamic thermal growth Calibration
![Page 11: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/11.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Development of Surgical Applications
Hexapod vs. Nonapod Extra legs contain
redundant sensors Insures against failure
of standard measuring system
Reliability increase is of the essence
![Page 12: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/12.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The future of Parallel Kinematics Minimize Friction, hysteresis, and backlash Improve material composition to limit thermal
growth Actuators – A future in the voice coil? Currently, applications are limited to endoscopy.
Incorporate use of scissors, forceps, balloon catheters and coagulation probes.
Endorse the use of a cockpit to create a “virtual surgery” environment
Expand to the fields of orthopedics, ear/nose/throat surgery, and ophthalmology.
![Page 13: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/13.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Bibliography and References Avallone, E.A., Baumeister III, T., Marks’ Standard Handbook for
Mechanical Engineers 10th Edition, McGraw-Hill, New York, 1996 Hale, Layon C., “Principles and Techniques for Designing Precsion
Machines”, UCRL-LR-133066, Lawrence Livermore National Laboratory, 1999.
Smith, S.T., Chetwynd, D.G., Foundations of Ultraprecision Mechanism Design, Gordon and Breach Science Publishers, Switzerland, 1992.
“Low-Inertia Parallel-Kinematics Systems for Submicron Alignment and Handling” (http://www.parallemic.org/Reviews/Review012.html)
“Why Hexapods and Parallel Kinematics?” (http://www.hexapods.net/hexapod.htm)
![Page 14: Hexapod Structures in Surgical Applications Presented by Sanjay Shirke Muhammad Umer.](https://reader030.fdocuments.in/reader030/viewer/2022032704/56649d5e5503460f94a3d8d8/html5/thumbnails/14.jpg)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Bibliography and References
“Six DOF Hexapod: Challenge of Design and Innovation” (http://biotsavart.tripod.com/hexapod.htm)
“Surgeon Navigates … from Operating Cockpit” (http://www.hoise.com/vmw/articles/LV-VM-05-98-17.html)
“History of the Universal Joint” (http://www.driveshafts.com/u-joint.html)
“M-850 Hexapod 6-Axis Parallel Kinematics Robot” (http://www.physikinstrumente.com/micropositioningsystems/8_4.html)