An Adapting Mechanism to Manipulate Manual Wristed Laparoscopic Instruments by a Robotic Surgery System

摘要

Sina is a robotic telesurgery system that accepts and works with conventional laparoscopic tools at its endeffector. This paper describes the design and analysis of an adapting mechanism for Sina, to enable manipulating a manual wristed laparoscopic instrument, i.e., Laparo-Angle by the system. After identification of the kinematics and dynamics characteristics of Laparo-Angle experimentally, .the design considerations of the adapting mechanism, including compatibility with the instrument (at one side) and the host robotic arm (at the other side), required kinematics and dynamics features, ease of tool replacement, etc., were studied and a conceptual design, based on the Agile Eye mechanism, was proposed. The forward and inverse kinematics analysis of the proposed mechanism revealed that it is capable of providing the desired workspace while meeting the design constraints. The workspace of the mechanism was a cone with an apex angle of 35 degrees, in which both the isotropy and manipulability indices were satisfying. The condition number and the Jacobean determinant of the mechanism within its workspace were lower than 1.4 and higher than 1, respectively. In general, the proposed mechanism was found to could satisfy the design requirements and constrains.