ÃƒËœ An Innovative Product of both BME & Mechanical Engg.
ÃƒËœ Divided into four groups
ÃƒËœ Master-slave is more preferrable
CAS Vs MEDICAL ROBOTS
Â¢ CAS is powered by surgeon
Â¢ NO target area is predefined
Â¢ used for simulating and planning the operative procedure
Â¢ Less accurate & unsafe
Â¢ Medical Robots are powered by motorised system
Â¢ target area should be predefined
Â¢ programming of instruments is necessary
Â¢ Highly accurate & safe
Â¢ It is a tele-operation system
Â¢ Non-autonamous in nature
Schematic outline of M-S system
ÃƒÂ¼ can be handled with soft tissues
ÃƒÂ¼ ergonomic situation of the surgeon can be improved
ÃƒÂ¼ Used for several operative tasks
ÃƒÂ¼ Slave design
ÃƒÂ¼ Master Design
ÃƒÂ¼ should impose a low mass load, about 30 g, on the surgeon's hand
ÃƒÂ¼ it should have unnoticeable friction and damping
ÃƒÂ¼ and have a bandwidth of at least 10 Hz to avoid tiring the surgeon.
Â¢ FORCEPS is a Small Master-slave System With Only One Degree of Freedom
Â¢ Control objective of a master-slave system is 'perfect' position tracking of the slave with 'perfect' force reflection at the master
Â¢ Unilateral system demerits-
i) total lack of visualisation of the slave-side
ii) accurate positioning tasks in complex environments
iii) safe handling of delicate materials
iv) reflecting material characteristics.
SHAPE MEMORY ACTUATORS
Â¢ Uses the shape memory effect to generate a motion
Â¢ It is based on the crystal structure of the alloy.
Â¢ Can be realised by an equilibrium between stress and strain in the wire and the temperature of the wire
Â¢ In forceps a spring is used to constrain the SMA wire
Not only technical aspects are the reason why robots integrate slower into the surgical theatre than in industrial environments. The most important social aspect is safety. The safety requirements for medical robots are a lot more stringent. Safety of a system can be achieved by active and passive safety mechanisms in the mechanical design of the system. The acceptance of the patients, who are possibly not used to robots,and also the acceptance of surgeons, who have to get familiar with working with robots, are an important aspect for the introduction of robots into the surgical theatre.