Design of a microrobotic wrist for needle laparoscopic surgery

Wiktor Sieklicki

doi:10.1115/1.2965608

Design of a microrobotic wrist for needle laparoscopic surgery

Abstract

The paper addresses the design of a micro wrist for needle laparoscopic surgery (needlescopy) using MEMS technology and an original 3 degree of freedom, 3D architecture. Advancement in needlescopy drives the development of multi-dof micro-tools 1-2mmin diameter with 3D mobility but standard available fabricationtechniques are for 2.5D structures. The paper discusses thedevelopment steps and design solutions for the realization of the 3Dwrist with available technology. A compliant mechanism is used whichis derived from a reference parallel kinematics mechanismarchitecture with three legs. A singular configuration of increasedinstantaneous mobility is exploited to achieve the desired 3Dmobility. Alternative leg architectures are investigated to obtainsatisfactory performance. The legs are fabricated as monolithiccompliant structures and assembled to wrist base and end-effector.The definition of the leg geometry revealed a complex task. Thesteps to obtain the final design satisfying task requirements aredetailed.

Citations

8

CrossRef
0

Web of Science
1 1

Scopus

Author (1)

Wiktor Sieklicki dr inż.
- Rektorat ds. Studenckich
- Gdańsk University of Technology

Cite as

Full text

full text is not available in portal

full content of the article see on external site open in new tab

Keywords

Details

Category:: Articles
Type:: artykuł w czasopiśmie z listy filadelfijskiej
Published in:: JOURNAL OF MECHANICAL DESIGN no. 130, pages 78 - 86,
ISSN: 1050-0472
Language:: English
Publication year:: 2008
Bibliographic description:: Sieklicki W.: Design of a microrobotic wrist for needle laparoscopic surgery// JOURNAL OF MECHANICAL DESIGN. -Vol. 130., nr. iss. 10 (2008), s.78-86
DOI:: Digital Object Identifier (open in new tab) 10.1115/1.2965608
Verified by:: Gdańsk University of Technology