Design and Analysis of Minimally Invasive Surgical Robot

作     者：Ch. V S N Vasundhara A P Sudheer 

作者机构：Mechatronics/Robotics Lab Department of Mechanical Engineering National Institute of Technology Calicut Kerala India 

出 版 物：《IOP Conference Series: Materials Science and Engineering》 

年 卷 期：2021年第1132卷第1期

摘      要：Minimally Invasive Surgical robots are commonly seen in medical centres for surgical purposes. However, the major challenges seen with such robotic systems are its heavy weight, costly and lack of capability to reconfigure according to the patient-specific needs. In this paper, a robot is proposed to overcome the difficulties with existing robotic systems. Six different concepts are proposed in this paper which are modelled in SolidWorks software. The best design has been selected using the concept scoring technique. Besides, the forward and inverse kinematics for the best concept is achieved using the Denavit-Hartenberg (D-H) modelling technique. Finally, results obtained from the analytical model has been verified using Peter Corke Toolbox in MATLAB. The trajectory planning of the selected concept has be done using the third-order polynomial equation and it is plotted using MATLAB.