Kinematic and Dynamic Analysis of a Laparoscopic Robot Arm

• Published in: 2021 IEEE 13th International Conference on Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment, and Management (HNICEM) pp. 1 - 4
• Main Authors: Munsayac, Francisco Emmanuel T., Espiritu, Noelle Marie D., Reyes, Jeffrey, Tan, Levi Joseph A., Kaplan, Anthony J.H., Sy, Armyn C., Baldovino, Renann G., Bugtai, Nilo T.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 28-11-2021
• Subjects: Analytical models; Arms; End effectors; finite element analysis; Kinematics; Laparoscopes; laparoscopy; minimally invasive surgery; robot arm; Tensors; Three-dimensional displays
• DOI: 10.1109/HNICEM54116.2021.9731915

The paper's focus is to analyze the laparoscopic robotic arm design for minimally invasive surgery (MIS) through kinematics and dynamics. Its purpose is to serve as an alternative to more costly designs and replace hand-held laparoscopic tools for a safer surgical procedure. The arm's design consists of three main components: gearbox, linkages and end effector. Through CATIA, a 3D modeling software, the properties of a specific material can be applied. This allows for an accurate simulation on how the robot will fare when subjected to a force. This will be done through finite element analysis (FEA), where CATIA will further calculate the stress values, for both Von Mises and principal tensor, the local errors, and the displacements after each load. Forces are applied to where the lead screw will be connected on the end effector carriage. This is to determine the maximum amount of weight that it can carry without affecting the arm integrity. In addition, kinematic analysis will be conducted through the use of CATIA's measuring tools to estimate the maximum angular reach that the robot arm has.