Design and control of a parallel linkage wrist for robotic microsurgery

Abstract

Abstract-This paper presents the design and control of a teleoperated robotic system for dexterous micromanipulation tasks at the meso-scale, specifically open microsurgery. Robotic open microsurgery is an unexplored yet potentially a high impact area of surgical robotics. Microsurgical operations, such as microanastomosis of blood vessels and reattachment of nerve fibers, require high levels of manual dexterity and accuracy that surpass human capabilities. A 3-DoF robotic wrist is designed and built based on a spherical five-bar mechanism. The wrist is attached to a 3-axis commercial off-the-shelf linear stage, achieving a fully dexterous system. Design requirements are determined using motion data collected during a simulated microanastomosis operation. The wrist design is optimized to maximize workspace and manipulability. The system is teleoperated using a haptic device, and has the required bandwidth to replicate microsurgical motions. The system was successfully used in a micromanipulation task to stack 1 mm-diameter metal spheres. The micromanipulation system presented here may improve surgical outcomes during open microsurgery by offering better accuracy and dexterity to surgeons.

A Spherical Active Joint for Humanoids and Humans

“…In [20], Carbone et al designed the CaHyMan parallel-serial manipulator for surgical tasks adding to CaPaMan a telescope arm mounted on its mobile plate. In [22], the authors present the first 3-dof hybrid wrist for dexterous micromanipulation tasks based on the state-of-art 2-dof spherical five-bar mechanism to which they added a serial roll dof. The authors mount the robotic wrist on a 3-axis commercial linear stage to achieve a fully dexterous system.…”

A Comparison of Robot Wrist Implementations for the iCub Humanoid †

“…The parameter l 1 represents the angle between the Y-axis and the line along the joint u L , parameter l 2 represents the angle between the line along u L and the end-effector point P and the parameter l 3 represents the angle between the Z-axis and the end-effector point P. Starting from the geometric parameters proposed by the respective authors [15], the values were tweaked to suit the current application and were set to be l 1 = 60°, l 2 = 74°and l 3 = 90°.…”

“…The focus was then shifted to a class of fully decoupled 2DOF PKMs that provide hemispherical workspace. Spherical linkage mechanisms such as the spherical five-bars [15] and spherical six-bar mechanisms [16,17], have all the revolute joint axes intersecting at a common point, thus promising more uniform kinematic behavior.…”

“…• a spherical parallel mechanism with five curved links (bars) adapted from the one presented in [15]; • a spherical six bar mechanism as proposed in [16] • an implementation of a N-UU parallel mechanisms similar to the OmniWrist-III mechanism [18] developed by Ross-Hime Designs, Inc.; • a Quaternion joint, similar to the N-UU class, as proposed by Kim in [24] for the LIMS2-AMBIDEX robot.…”

Toward Medical Devices With Integrated Mechanisms, Sensors, and Actuators Via Printed-Circuit MEMS

“…10 (c)). During the manipulation task the gripper measured 32.3 ± 3.08 mN of grip force required to pick up and displace the metal spheres [28].…”