Improved surgical robot design using a novel compliant rolling-contact joint

Carl A. Nelson, Cole A. Dempsey, Ethan R. Brush, M. Amine Laribi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents an improved design concept for a surgical robot that contributes to improved human-robot interaction and precise positioning of surgical tools. Based on a spherical wrist design, the robot incorporates new human-safe features limiting its ability to apply excessive force and uses a novel adaptation of the compliant rolling-element (CORE) joint suitable for conical rolling surfaces. The proposed safety features aim to provide novel functionality by mechanically disengaging the drive in overload conditions. This approach avoids the necessity of force sensing and control to detect and compensate for unintended device collisions. Further, proof of concept of a novel compliant rolling-element joint is presented as a low-backlash alternative to bevel gear pairs for heightened precision in angular positioning.

Original languageEnglish (US)
Title of host publication43rd Mechanisms and Robotics Conference
PublisherAmerican Society of Mechanical Engineers (ASME)
ISBN (Electronic)9780791859247
DOIs
StatePublished - Jan 1 2019
EventASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 - Anaheim, United States
Duration: Aug 18 2019Aug 21 2019

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
Volume5B-2019

Conference

ConferenceASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019
CountryUnited States
CityAnaheim
Period8/18/198/21/19

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ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modeling and Simulation

Cite this

Nelson, C. A., Dempsey, C. A., Brush, E. R., & Amine Laribi, M. (2019). Improved surgical robot design using a novel compliant rolling-contact joint. In 43rd Mechanisms and Robotics Conference (Proceedings of the ASME Design Engineering Technical Conference; Vol. 5B-2019). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC2019-97981