Design Parameter optimization of a Novel Serial Manipulator for Microsurgery

Abstract

Surgical robots for microsurgery have mostly been continuum robot type. We present a new serial robot type manipulator for microsurgery, AsclRod. The manipulator consists of a stiff, slim tubes connected by rotation-prismatic joints. Being a serial robot, the manipulator provides improved stiffness and tractable kinematics compared to previous continuum robot type manipulators. Performance index of the manipulator is defined in terms of the workspace size, insertion port diameter, and tip orientation dexterity. Design parameters of each link of the manipulator are optimized to maximize the performance index while satisfying the constraint of the target application, endonasal skull base surgery (ESBS).