The Design of Mechatronics Manipulator for Surgical Purposes: Approach and Challenges

This paper discusses the preliminary study of improving the development of mechatronic manipulator for surgical aided system, i.e. in MIS procedures. Realizing the importance of robotic and computer technology for surgical field in Malaysia, a study of the application of mechatronic in medical has been set forward. The intended outcome of the study is to develop a surgical assisted system that could increase the quality of surgical service performance. Therefore, the aim of this study is to investigate and develop a kinematics model with all the necessary details to be used for mechanism analysis and preliminary control system design. The objective is to determine the optimal geometrìe configuration for the develop model. This information will be used for the detailed mechanical design and manufacture of the physical device. The final product which should be an aided surgical manipulator would be best applied to endoscopic surgeries. Parallel mechanisms which is more complicated to design, but offer a relatively smaller workspace and lower overall handiness were chosen for the design of mechanism topology. To their benefit, parallel topologies result in stiffer mechanisms, with the ability to transmit higher forces at the tool with greater accuracy.