Requirements based design and end-to-end dynamic modeling of a robotic tool for vitreoretinal surgery

Anestis Mablekos-Alexiou, Sebastien Ourselin, Lyndon Cruz, Christos Bergeles

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review

7 Citations (Scopus)
307 Downloads (Pure)

Abstract

Despite several robots having been proposed for vitreoretinal surgery, there is limited information on their dynamic modeling. This gap leads to sub-optimal motor selection and hinders the application of advanced control schemes that would fulfill the goal of micro-precise surgery. This paper presents the design process and a dynamics study of a multi-Degree of Freedom (DoF) robotic system, which is inspired by established co-manipulation architectures. A rigorous kinematics and dynamics analysis of the robot's part that is responsible for manipulating the surgical tool during the retinal surgery phase is provided. In particular, the Euler-Lagrange equations of motion, which describe the dynamics of the 3-link surgical manipulator, are combined with novel analytical models of each link's corresponding transmission mechanism, including an anti-backlash lead screw assembly and a worm drive. The resulting models, transferable to existing manipulators, provide a meticulous analysis of the robot's performance that can be used both for mechanical design and control purposes
Original languageEnglish
Title of host publicationIEEE Int. Conf. Robotics and Automation
DOIs
Publication statusPublished - 2018

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