Experimental and Analytical Modelling and Control of Precision Surgery Manipulator

Abstract

In this fast growing world everyone is trying to be perfect and want to reach anywhere with as much as less time it takes. So, in the medical field also every patient want to get best treatment with high precision and accuracy. A robotic arm can provide both of them which can be controlled by computers and the inputs given by a specialise doctor sitting on another table or may be somewhere else in the world. The robotic surgery enables surgeons to perform even the most complex and delicate procedures through very small incisions. A robotic surgery provide patient less time to recover, less blood loss.  Designing of manipulator for the considerations of functions it performs, its limitations and motor housing.  Complete robotic manipulator's construction in Solid Works software with all the attachment of motors and how the motion transferred to different joints by the use of ropes or belts is designed.  Forward modelling and inverse modelling using Bond Graph of robotic manipulator systems are developed.  The forward kinematics and inverse kinematics of the robotic manipulator by using Denavit-Hartenberg (D-H) representation and Newton-Rapson method by using Mat lab tool of serial manipulator.  Comparison of the results comes from both methods i.e., Bond Graph approach and D-H approach.  Its back hand system which is to transfer motions to joints and by which motor is used in here with the all construction of it in Solid Works and by use of Rapid Prototyping Machine.