Kinematic and Dynamic Analysis of A Surgical Tool Manipulator Towards Robotic Surgery

Robotic surgery reduces the amount of tissues that are damaged during a surgical procedure, thereby reducing the patient recovery time, discomfort and deleterious side effect such as infection. In this article, kinematic and dynamic analysis of a surgical tool manipulator is carried out to perform the desired range of motions for a typical minimal invasive surgical operation. The manipulator having 3 DOF is driven by D.C. servomotors and motion is transmitted through wires/cables pivoted to driving shaft at one end and to the gripper on the other end. Kinematics analysis is done by utilizing the D-H parameters as well as through ADAMS software. The position, orientation and workspace of gripper (end-effector) are calculated analytically using D-H parameters and transformation matrix. Keywords— Minimal invasive surgery; Robotics; Surgical Tool Manipulator; Kinematics; Workspace