hexapod structures in surgical applications presented by sanjay shirke muhammad umer
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Hexapod Structures in Surgical Applications
Presented by
Sanjay Shirke
Muhammad Umer
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
1800’s –Mathematician Augustine Cauchy studies rigidity of polygons
1947 – Dr. Eric Gough applies the parallel kinematic platform to a tire testing machine developed working under Dunlop.
1962 – Klaus Cappel develops vibration equipment for Franklin Institute.
1965 – Stewart platform developed for aircraft simulation. 1995 – Frauhofer Institute in Stuttgart, Germany approaches
Physik Instrumente to develop the surgical robot.
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
Fig.1. 1949-2000 (a)The original Dunlop tire testing machine invented by Eric Gough, (b) The modern tire testing machine.
(a) (b)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
Fig.2. 1965 -1970 (a)The original Stewart Platform for aircraft simulation, (b) later incorporating the design of an octahedral hexapod.
(a)
(b)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
Fig.3. 6 DOF motion achieved through 6 strut linear actuators. The resulting rapid, submicron multi-axis translation and rotation makes the hexapod ideal for precision surgical applications.
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The Hexapod - A Brief History of Design
Universal Joints - offer 2 rotational DoF
Linear Hydraulic Actuators - offer 2 DoF: 1 translation and 1 rotation
Source: Marks’ Standard Handbook for Mechanical Engineers
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Hexapods – Engineering and Kinematic PrinciplesMobility – The Kutzbach Criterion:
n = 12 (struts) + 1(base) + 1(platform) = 14
c = 3 x 6 x 4 = 72
M = 6(14 – 1) – 72 = 6 DoF
j
iicnM
1
)1(6
Quantity Occurrences Constraints # DoF Description
6 Base: Yoke 1/ Yoke 2 Universal Joint 4 2 RR
6 Strut Lower end (Y2) / Strut upper end (Y3) 4 2 TR
6 Strut Upper end (Y3) / Platform Universal Joint (Y4) 4 2 RR
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Hexapods – Engineering and Kinematic PrinciplesRange of Motion and
ResolutionModels M-800.11 M-800.12
Travel X [mm] ±35 ±64
Travel Y [mm] ±35 ±59
Travel Z [mm] ±14 ±26
Travel Theta-X/Theta-Y [°] ±8 ±20
Travel Theta-Z [°] ±25 ±45
Actuator stroke [mm] ±13 ±25
Resolution X/Y [µm] 1 2
Resolution Z [µm] 0.5 1
Resolution Theta-X/Theta-Y/Theta-Z [arcsec] 1 1.4
Fig 4. The Physik Instrumente M-800.11
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Hexapods – Engineering and Kinematic Principles
Design Criteria Minimize mass and inertia for
maximum speed and acceleration.
Strut Operation – linear hydraulic actuators
Joint Design – Universal or Ball and Socket
Integrity tested with CAD, FEA, and laser vibrometery tools.
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Is the Hexapod really worth it?
advantages Complete range of motion. High precision and
accuracy Computer visualization
tools High stiffness High load/weight ratio
limitations Friction Length of struts Dynamic thermal growth Calibration
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Development of Surgical Applications
Hexapod vs. Nonapod Extra legs contain
redundant sensors Insures against failure
of standard measuring system
Reliability increase is of the essence
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
The future of Parallel Kinematics Minimize Friction, hysteresis, and backlash Improve material composition to limit thermal
growth Actuators – A future in the voice coil? Currently, applications are limited to endoscopy.
Incorporate use of scissors, forceps, balloon catheters and coagulation probes.
Endorse the use of a cockpit to create a “virtual surgery” environment
Expand to the fields of orthopedics, ear/nose/throat surgery, and ophthalmology.
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Bibliography and References Avallone, E.A., Baumeister III, T., Marks’ Standard Handbook for
Mechanical Engineers 10th Edition, McGraw-Hill, New York, 1996 Hale, Layon C., “Principles and Techniques for Designing Precsion
Machines”, UCRL-LR-133066, Lawrence Livermore National Laboratory, 1999.
Smith, S.T., Chetwynd, D.G., Foundations of Ultraprecision Mechanism Design, Gordon and Breach Science Publishers, Switzerland, 1992.
“Low-Inertia Parallel-Kinematics Systems for Submicron Alignment and Handling” (http://www.parallemic.org/Reviews/Review012.html)
“Why Hexapods and Parallel Kinematics?” (http://www.hexapods.net/hexapod.htm)
March 18, 2003Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design Shirke/Umer
Bibliography and References
“Six DOF Hexapod: Challenge of Design and Innovation” (http://biotsavart.tripod.com/hexapod.htm)
“Surgeon Navigates … from Operating Cockpit” (http://www.hoise.com/vmw/articles/LV-VM-05-98-17.html)
“History of the Universal Joint” (http://www.driveshafts.com/u-joint.html)
“M-850 Hexapod 6-Axis Parallel Kinematics Robot” (http://www.physikinstrumente.com/micropositioningsystems/8_4.html)