Mechanical Design and Optimization of a Microsurgical Robot

  • M. Miroir
  • J. Szewczyk
  • Y. Nguyen
  • S. Mazalaigue
  • A. Bozorg Grayeli
  • O. Sterkers

Abstract

The tele-operated system with three arms for the microsurgery of the middle ear is composed of an operator console from where the surgeon tele-operates three robotized arms that hold surgery tools with a high level of accuracy. The main difference between these micromanipulators and the conventional minimal-invasive surgery robots is the increased field of vision capacity to carry out complex operational gestures without using dextral tool with intra-body mobility. The method used to design the micromanipulator tool holder is described. A first task consists of analyzing functional specifications. The next step is to define and select a kinematic structure adapted to the task. Finally, a dimensional optimization is carried out by using Pareto front method.

Keywords

Surgery Manipulators Mechanism Design Kinematics 

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Copyright information

© Springer Science+Business Media B.V. 2009

Authors and Affiliations

  • M. Miroir
    • 1
  • J. Szewczyk
  • Y. Nguyen
  • S. Mazalaigue
  • A. Bozorg Grayeli
  • O. Sterkers
  1. 1.Université Pierre et Marie Curie-Paris 6, FRE-2507,Institut des Systèmes Intelligents et Robotique (ISIR)ParisFrance

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