The Joint Vibration Analysis of a Multi-Link Surgical Manipulator

What is it about?

This paper presents a vibration analysis of a multi-link surgical micromanipulator joint, based on its detailed mathematical model. The manipulator’s prototype contains 6 links with the diameter of 8–10 [mm] and with the length of the modules of about 130 [mm]. It is driven by brushless servomotors with worm and planetary gears, for which the total transmission ratio is above 1/10000. Regarding the low efficiency of micro-robot drive systems and its vibrations, a reliable joint model and its performance is crucial for the development of a high-precision control system. To achieve the required accuracy, modeling framework has been enriched with an advanced model of friction. Simulation results are presented and discussed.

Featured Image

Why is it important?

The ROCH-1 manipulator, assigned for supporting minimally invasive surgeries, is composed of six modules, with differentiated lengths of diameters ca. 10 mm, and is connected with joints. Particular elements are equipped with a mechanical interface, providing modularity of the structure and are equipped with their own drive. Such a solution gives an opportunity of easy reconfiguration of the device and adjusting it to several operations as well as location of the operating field inside the patient’s body . As a result of the work the mechanical structure of the manipulator evolved - there were many virtual models, on the basis of which, particular variants of the designed solutions were analysed.