Ph.D. Thesis - Abstract
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1 Inveteşte în oameni! FONDUL SOCIAL UROPAN Pogamul Opeaţional Sectoial Dezvoltaea Reuelo Umane 7 1 ng. Maiu-Citian SUCIU P.D. Tei - Atact CONTRIBUTIONS TO TH DVLOPMNT OF A NW ACTIV PARALLL ROBOT FOR MINIMALLY INVASIV SURGRY Scientific cooinato Pof. P.D. ng. Doina PÎSLĂ TCHNICAL UNIVRSITY OF CLUJ-NAPOCA FACULTY OF MACHIN BUILDING -11-
2 Content 1. State of te at in ootic ugey. Te efinition of a new active paallel tuctue fo ootic ugey. Te kinematic moel of te yi paallel oot PARASURG-9M. Singulaity analyi. Te contuctive eign of PARASURG-9M fome y 8 PARASURG 5M an PARASIM 5. Te ynamic moel of PARASURG-9M oot 8. Te expeimental moel of PARASURG-9M oot 9 7. Final concluion peonal contiution an futue 11 eeac 8. Selective efeence 11
3 1. State of te at in ootic ugey Capte 1 peent te cuent tage of eeac in te fiel of ootic ugey. Te fit pat of te capte peent ome geneal apect tating fom te appeaance of oot continuing wit te application of paallel an yi tuctue oot. Ten te empai i et on te main eeace in te omain of minimally invaive ugey on national an intenational level making a citical analyi of avantage an iavantage of exiting olution. Some application of active ugical intument ae owe unelining te nee to evelop innovative ootic ytem wit paallel tuctue. Alo te tate of te at of aptic an viual guiance evice wit foce feeack i peente ening te capte wit te eeac neceity an jutification of te coen P.D. topic.. Te efinition of a new active paallel tuctue fo ootic ugey Capte peent a new active yi paallel tuctue fo oientation an cutting in minimally invaive ugey PARASURG-9M coniting of te ootic moule PARASURG 5M wic pefom te poitioning in te ugical fiel an te active ugical intument PARASIM wic pefom te oientation of te en efecto in te ugical fiel. Kinematic ceme of te new paallel oot Stating fom a et of conition impoe y te ugical act wic wee efine togete wit te team of ugeon te kinematic ceme of a new oot i pupoe. Te capte continue wit te tuctual analyi of te oot an geometic moeling: fowa an invee meto followe y te etemination of te wokpace of te new tuctue eigne fo ootic ugey. Finally a valiation of te numeical eult fom te geometical moel i mae uing te CAD moel of PARASURG-9M moel.
4 Te total oientation wokpace of PARASURG-9M paallel yi oot i coniee in wic all te location of te en-effecto efeence point may e eace. Tey ae epeente wit te oientation vaying among a peefine et of ange uing te geometical paamete peviouly peente in te numeical example. A pogam in Matla fo wokpace geneation wa evelope an te eult i iplaye in te following figue: Wokpace plot of PARASURG-9M. Te kinematic moel of te yi paallel oot PARASURG-9M. Singulaity analyi Capte peent te kinematic moel of te yi paallel oot PARASURG- 9M followe y te ingulaity analyi. Te kinematic moel expee te elationip etween te velocitie o acceleation of te active joint an te genealize velocitie o acceleation of te caacteitic point on te en-efecto. Te implicit kinematic euation ytem wic efine te elation etween te active joint vecto an te vecto of point cooinate of Y i: in in 1 in in in Y Y f Y Y f f
5 in in in in in in in in in in in in in in in in in in in in in in in in in in 1 in in in in in in in in in in in in in in in in in in f f f Uing te matix epeentation te kinematic moel i: B A In te cae of te fowa kinematic moel FKM te iving velocitie vecto ae given an te en-efecto velocitie a well a angula velocitie ae compute:. A input ata fo ti kinematic moel te invee geometic moel an te geometic paamete of te PARASURG 9M paallel mecanim ae given. T ] [ 5 1 [ T G G G Y ] So it yiel: B A 1 In te cae of invee kinematic moel IKM te en-effecto velocitie vecto = [ G G Y G ] T ae given an te iving velocitie vecto = [ ] T ae compute. A input ata fo ti kinematic moel te invee geometic moel an te geometic paamete of te PARASURG 9-M paallel oot ae given. So fo te active cooinate it eult: 1 5 5
6 B 1 A Toug te iffeentiation of te tating e. fo te kinematic moel it yiel: A A B B Uing te invee kinematic moel IKM an fowa kinematic moel FKM algoitm fo invee an fowa kinematic ave een evelope. Tu uing te patial eivative of function f i i 1... wit epect to te ive cooinate epectively to te en-effecto cooinate te x uae matice A an B ae otaine. Numeical example Te kinematic moel wa valiate toug te following example wee te poition cooinate ae given in te fit numeical example. 1mm / Y 1mm / mm /.88mm / 1 mm /.5 / 1 /. / 1 / / 1 / 8.85 / 5mm / IKM 1 1.8mm / Y 5mm / 1.8 mm / 5mm /. / 5 / / 5 / 5.7 / 5 / 1. / FKM 9.99mm / Y 9.99mm / 9.99mm / 1 / 9.99 / 1 Y / 5mm /.99mm /.99 mm / / 5.99 / / 5 To tuy te oot kinematic a imulation pogam wa evelope in Matla. By uing te invee kinematic moel fo PARASURG 9M ome imulation wee acieve. Te computation time fo te oot motion etween two point on te tajectoy uing te invee kinematic moel i.718 econ. Ti time wa otaine on Intel Pentium CPU. GHz CPU wit 7 MB RAM. By uing te following et of input paamete: =511 mm =5 mm B =95 mm Y B = mm B =-1 mm te maximum velocity at point : v max =5 mm/ an it maximum acceleation a max =mm/ a tajectoy in pace etween two point in te wokpace a een imulate. Te input ata fo te tajectoy planning epeente ae: initial an final poition of point on te axe: 9mm mm ; 9 i f initial an final poition of point on te Y axe: Y 1mm mm 1 ; i f initial an final poition of point on te axe: 1mm mm 15 ; i f
7 initial an final oientation wit ψ : i o f o ; initial an final oientation wit θ : i o f o ; initial an final oientation wit φ: i o f o ; Te motion of point on a pace tajectoy Kinematic eult of te active joint of PARASURG-9M. Te contuctive eign of PARASURG-9M fome y PARASURG 5M an PARASIM Capte peent te eign of te ootic ytem PARASURG-9M. Te paallel yi ugical ootic ytem PARASURG 9M i peente in etail a. Te 7
8 oot i compoe of PARASURG 5M wic wa extenively icue in [GH 1 PIS 11] an te active ootize ugical intument PARASIM. Te ugical ytem wa conceive o tat te connection of PARASURG-5M wic pefom te poitioning in te ugical fiel an PARASIM wic pefom te oientation of te en-efecto i poile. Fom te kinematic point of view te ootic am PARASURG 5M a tee DOF given y a moule wit paallel kinematic fo intument poitioning in te ugical fiel an two DOF given y a moule ae on a eial cain fo it oientation wit epect to te fixe point B te inetion point in te aominal wall component no. 5 in etail aiming to eliminate any peue upon te patient aominal wall. a Te ugical oot PARASURG 9M etail A: te active paallel ootic intument PARASIM Regaing te active ootize intument PARASIM wic a DOF it main component i te oientation moule coniting of te peical paallel mecanim SPM component no. 7 in etail wit tee ientical cloe kinematic cain. Te actuato of te intument component no. 1 in etail ae mounte on te ae platfom containe in a ox. In tem of geometic paamete ue fo te CAD moel of te intument te mot impotant ae: L =8 mm epeenting te lengt of te intument inie te ugical fiel; 1 =1 mm te iamete of te SPM; an L= mm te lengt of te PARASIM active ugical intument. 5. Te ynamic moel of PARASURG-9M oot Te ynamic moel of te PARASURG-9M oot wa tuie uing te pinciple of vitual wok. A te moel wee complete eveal numeic imulation wee pefome to tuy te vaiation of te foce an toue of te active joint of te PARASURG-9M oot. Suc a imulation i peente in te next figue. 8
![Te vaiation of te active cooinate poition pee acceleation foce an toue fo a linea iplacement etween two point in pace Uing te invee ynamic moel of PARASURG 5M [PIS 9] [GH 1] te toue of te active](/docs-images/82/87028277/images/9-0.jpg "joint 7 an 8 ae otaine uing te ame law of movement.")
9 Te vaiation of te active cooinate poition pee acceleation foce an toue fo a linea iplacement etween two point in pace Uing te invee ynamic moel of PARASURG 5M [PIS 9] [GH 1] te toue of te active joint 7 an 8 ae otaine uing te ame law of movement. Te vaiation of te active cooinate 7 an 8 poition pee acceleation foce an toue fo a linea iplacement etween two point in pace [PIS 9] [GH 1] Alo a Multi-Boy imulation oftwae wa ue namely MSC. Aam fo olving te IKM of PARASURG-9M oot. By compaing te imulation fo te teoetical invee ynamic moel an te MSC Aam imulation te eult ave own a vey goo coelation etween tee two imulation.. Te expeimental moel of PARASURG-9M oot Capte peent te expeimental moel of te active paallel oot PARASURG-9M. Te mecanical contuction of te oot an te electical pat tat actuate te oot ae peente. Given te novelty of te tuctue PARASIM intument te main focu i te peentation of te intument. 9
10 Te expeimental moel of te PARASURG-9M oot Te capte alo peent te ue inteface of te oot an it contol ytem. Te contol ceme of te PARASURG-9M oot 1
11 7. Final concluion peonal contiution an futue eeac Capte 7 peent te final concluion of te P.D tey oiginal contiution of te auto an ome futue eeac towa te evelopment of ytem wic woul ing enefit to te ugical act. By integating meto of matematical moeling fo: tuctual yntei kinematic an ynamic analyi; eign an manufactuing te tei a pae toug all te tage of eeac tating fom an iea a neceity finalizing wit a olution a ytem aiming towa te ai of te ugical act. So a eie of oftwae wa ue in oe to finalize te tuie: Matwok Matla Siemen UGS N SoliWok - ComoMotion MSC Aam View PotPoceo. Te eeac eult of ti tei ae ae on eveal cientific pape: ten a coauto an tee a fit auto pulie in intenational an national jounal. Te auto i alo co-auto of a patent application entitle: Oientation moule wit moula tuctue wit multiple en innovative olution fo inceae exteity of ugical intument. 8. Selective efeence ANG 1 Ang W. Kola P. an Riviee C.: An intelligent an-el micougical intument fo impove accuacy ngineeing in Meicine an Biology Society Poceeing of te Annual Intenational Confeence of te I 1. BAI 7 Bai S. an Hanen M.: Moelling of a Speical Rootic Wit wit ule Paamete 1t IFToMM Wol Conge Beancon 7 MR Melet J.P. Paallel Root Secon ition. Spinge PIS 1 Pîlã D. Geman B. Suciu M. Vaia C. Lee D. Saou C. Plitea N: On te Dynamic of a 5 DOF Paallel Hyi Root ue in Minimally Invaive Sugey Te uopean Confeence on Mecanim Science ucome 1 pp ISBN oi: 1.17/ Septemie 1 Cluj-Napoca. PIS 1c Pîlă D. Plitea N. Geman B. G. Vaia C. an Suciu M.: Kinematic an Deign of a 5-DOF Paallel Root Ue in Minimally Invaive Sugey 1-t Intenational Sympoium: ARK Avance in Root KinematicAvance in Root Kinematic: Motion in Man an Macine SpingeLenacic Jaan; Staniic Micael M..1t ition. pp Hacove ISBN: DOI: 1.17/ _11 1 Pian-Potoož Slovenia. PIS 11 D. Pîlã B. Geman N. Plitea B. Gyuka C. Vaia L. Vla F. Gau C. Rau M. Suciu A. Szilagi A. Stoica: PARASURG Hyi Paallel Root fo Minimally Invaive Sugey Revita Ciugia vol. 1 Bucueti
12 PIS 11 Pila D. Suciu M. Vaia C. Geman B. Plitea N. : An active yi paallel oot fo minimally invaive ugey Rootic an Compute Integate Manufactuing Jounal -timiă pe ecenzie 11 PLI 8 Plitea N. Pîlă D. C. Vaia B. Poan A. Viean C. Saou D. Lee M. Glogoveanu L. Scutu M. Suciu: Innovative evelopment of paallel micooot wit ix egee of feeom an ix guiing kinematic cain of te platfom Acta Tenica Napoceni Seie: Applie Matematic an Mecanic 51. Vol. III 8 ISSN PLI 9 Plitea N. Pila D. Vaia C. Geman B.: Root ciugical. Patent înegitat no. a55/ Romania 9 SUC 11 Suciu M. Geman B. Vaia C. Plitea N. Pîlă D. On te Kinematic of a Hyi Paallel Root ue in Minimally Invaive Sugey in Mecanim Tanmiion an Application Vol. Spinge ISBN MeTApp 11 Timişoaa 11. SUC 11c Suciu M. Pîlă D. Vaia C. Plitea N. Deign an Stuctual Analyi of PARASURG-9M Paallel Hyi Sugical Rootic Sytem Acta Tenica Napoceni - Applie Matematic an Mecanic Seie vol. 5 1 ISSN SUC 11 Suciu M. Pîlă D.: Development of a New Active Rootic Am fo Sugey pulicat în volum confeinţă PRODOC -5 iunie 11 Cluj-Napoca Romania. VAI 11a Vaia C. Plitea N. Pilă D. Geman B. Suciu M.: Deign an Analyi of a moule fo intument tip oientation in minimally invaive ugey poceue Applie Matematic an Mecanic Seie VAI 11 Vaia C. Plitea N. Pilă D. Geman B. Suciu M.: Moul e oientae cu tuctuă moulaă cu mai multe cuui Patent epu n. A111/11. WB 8 Wol lectonic Book of Sugey potal on-line ciugical 8 WIK 11 ***nciclopeia online Wikipeia ttp://o.wikipeia.o g/w iki/ Pagin a_pincipal%c%
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