Session: MR-05-01 - Motion Planning, Dynamics, and Control of Robots

Paper Number: 89714

89714 - Stapler Design With Stacked Tensegrity Mechanisms for Surgical Procedures 

In this paper, a planar mechanism formed by stacking tensegrity mechanisms has been designed. This mechanism is formed by three segments but the approach can be applied to a larger number of segments. This mechanism is studied to serve as a stapler for laparoscopic rectal cancer surgery where conventional tools cannot be easily accessed. To do this, two identical mechanisms will be used and operated similarly: one to carry the clips and the cutting knife and the second in parallel to allow the closing of the clips by bringing the two mechanisms together. The parameterization of the segments allows a variation of all lengths. Thus, the size of the segments can decrease proportionally from the base to the top, resulting in a tapered shape from the base to the tip like an elephant trunk. The mechanism has linear springs and cables for its actuation. The singularities, as well as the stability of the parallel mechanism, were analyzed using the minimum energy principle. Optimization was also performed to obtain the largest angular deflection for a segment based on a ratio between the size of the base and the moving platform of the robotic system. The result of this work is a family of mechanisms that can generate the same workspace for different stability properties. After optimization, the radius of curvature of the mechanism will be studied to allow insertion into the patient's belly.

Presenting Author: Damien Chablat Laboratoire des Sciences du Numérique de Nantes

Presenting Author Biography: Damien Chablat obtained his doctorate in Mechanical Engineering from the Ecole Centrale de Nantes and the University of Nantes in 1998. For a year he worked at McGill University's Intelligent Machinery Centre with Professor Angeles. He joined the CNRS (Centre National de la Recherche Scientifique) in 1999 to work within the Robotics group of the Institut de Recherche en Communications et Cybernétique de Nantes (IRCCyN). He became a senior researcher at the CNRS in 2011. Since 1 January 2017, IRCCyN has been renamed LS2N, Laboratoire des Sciences du Numérique de Nantes. He is now the team leader of a robotics team studying humanoid robots, bio-inspired robots, and the interaction between humans and robots. His research interests include robotics, parallel manipulator design and human fatigue assessment for industrial tasks.

Authors:

Dhruva Khanzode BioMedical Application Division, CSIR Central Scientific Instruments Organisation
Ranjan Jha BioMedical Application Division, CSIR Central Scientific Instruments Organisation
Damien Chablat Laboratoire des Sciences du Numérique de Nantes
Emilie Duchalais Centre hospitalier universitaire de Nantes