MODELLING AND DYNAMIC ANALYSIS OF BIOCOMPATIBLE ROBOTIC ARM

Abstract

Use of robots in surgery is gaining popularity, since their first introduction in 1985. Since then various configurations have been developed based on the various requirements and innovative ideas such as Endoscopic Surgical Systems, Tele-Surgical Systems, In Vivo Robots, etc. one of the main reasons of popularity is the use of Minimally Invasive surgical (MIS) technique. In this technique, small incisions of 15 mm (maximum) are made and then surgical tools are inserted for surgery. This reduces patient's pain, reduces recovery time, and also patient's trauma. Recently new types of robots are being developed by some researchers based on the concept of placing the robotinside the. body called as In Vivo Robot. The presents work is concerned with designing of an In Vivo robot for the purpose of biopsy inside the stomach. Designing of robot was carried out based on various parameters such as Degrees of Freedom (DOF) required, working environment, etc. Modeling of the In Vivo robot was done using Bond Graph technique. The model was subsequently modified in phases so as to include modeling of soft tissue, position and force control strategy. Simulation of the model was carried out for developed models using Symbols Shakti software. The simulation of the In Vivo robot model. was carried out to validate the model. The model was then modified with tissue modeling and again the simulation was carried out. Finally, the simulation was carried out with the position and Interaction controller to control the forces produced during interaction with the tissue. The simulation results show that the interaction control is achieved at the desired condition.