Mamplekos-Alexiou, Anestis;
(2022)
Modelling, Design, and Engineering of a Robotic Tool for Vitreoretinal Surgery.
Doctoral thesis (Ph.D), UCL (University College London).
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Abstract
Although several high impedance co-manipulated robots have been proposed for vitreoretinal surgery, there is little information on their dynamic modeling. This gap may lead to suboptimal design and actuation decisions that hinder the acceptance of existing robotic tools by the healthcare community. This dissertation highlights the importance of including the dynamics of transmission systems into the modeling process of high impedance manipulators using a new theory that is experimentally validated. Based on the presented models, a framework for the development of a robotic tool for vitreoretinal surgery is proposed. This framework guides the design and motorization of the robot considering the actuator-reflected dynamics of the links driven by high reduction ratio screw-based gearboxes. To this end, a unified mathematical approach for modeling, identifying, and solving the friction-inclusive dynamics of robotic mechanisms that are driven by sliding contact transmission systems is presented. This approach is applied to the most common industrial screw-based drives: 1) the worm drive, 2) the simple lead screw drive, and 3) the antibacklash lead screw drive. The theory presented is supported by extensive experiments that demonstrate the effectiveness of my method toward framing the concepts of friction and motion transmission into a robotics setting. Application of the models is encouraged by providing accompanying software that can be easily adapted to solve the forward and inverse dynamics of any serial manipulator that employs screw-based drives. The dynamics modeling framework is complemented with a kinematics study of the four-degree-of-freedom serial spherical mechanism, chosen to produce a mechanical remote center of motion during vitreoretinal surgery. A purely geometric approach is presented that facilitates workspace visualization and singularity detection, and allows the development of a closed-form solution for the inverse kinematics of the manipulator. The complete framework is finally applied to the design and engineering of a robotic tool, using the presented kinematics and dynamics analyses to achieve workspace and performance specifications that meet the requirements of vitreoretinal surgery.
| Type: | Thesis (Doctoral) |
|---|---|
| Qualification: | Ph.D |
| Title: | Modelling, Design, and Engineering of a Robotic Tool for Vitreoretinal Surgery |
| Open access status: | An open access version is available from UCL Discovery |
| Language: | English |
| Additional information: | Copyright © The Author 2022. Original content in this thesis is licensed under the terms of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) Licence (https://creativecommons.org/licenses/by-nc/4.0/). Any third-party copyright material present remains the property of its respective owner(s) and is licensed under its existing terms. Access may initially be restricted at the author’s request. |
| UCL classification: | UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng UCL > Provost and Vice Provost Offices > UCL BEAMS UCL |
| URI: | https://discovery.ucl.ac.uk/id/eprint/10151160 |
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