Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery

Rohan Nowell; Bijan Shirinzadeh; Leon Lai; Julian Smith; Yongmin Zhong

doi:10.1109/AIM.2017.8014107

Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery

Rohan Nowell, Bijan Shirinzadeh, Leon Lai, Julian Smith, Yongmin Zhong

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

4 Citations (Scopus)

Abstract

Additive manufacturing was used to build a large scale prototype of a 3-DOF, 3-PRS parallel manipulator designed for enhancing the mobility of instruments used in endonasal neurosurgery. The prototype is 5 times larger than the design, with an outer diameter of 25mm. It uses custom ball and socket joints to provide pitch and roll capabilities of ±60° while remaining compact. Testing of the robots range of motion shows the desired workspace is achievable. Visual tracking was used to record the precision of this motion. Positioning errors were relatively low with a root mean squared error of 1.1°. The prototype exhibits high strength and is able to withstand axial forces of 80 N and torques up to 300 N mm. Future research will focus on the development of a 5 mm diameter manipulator.

Original language	English
Title of host publication	2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017)
Editors	Oliver Sawodny
Place of Publication	Piscataway NJ USA
Publisher	IEEE, Institute of Electrical and Electronics Engineers
Pages	749-754
Number of pages	6
ISBN (Electronic)	9781509060009, 9781509059997
ISBN (Print)	9781509060016, 9781509059980
DOIs	https://doi.org/10.1109/AIM.2017.8014107
Publication status	Published - 21 Aug 2017
Event	IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2017 - Munich, Germany Duration: 3 Jul 2017 → 7 Jul 2017 Conference number: 16th http://www.aim2017.org/ (Conference website) http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7999201 (Proceedings)

Conference

Conference	IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2017
Abbreviated title	AIM 2017
Country/Territory	Germany
City	Munich
Period	3/07/17 → 7/07/17
Internet address	http://www.aim2017.org/ (Conference website) http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=7999201 (Proceedings)

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10.1109/AIM.2017.8014107

Cite this

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title = "Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery",

abstract = "Additive manufacturing was used to build a large scale prototype of a 3-DOF, 3-PRS parallel manipulator designed for enhancing the mobility of instruments used in endonasal neurosurgery. The prototype is 5 times larger than the design, with an outer diameter of 25mm. It uses custom ball and socket joints to provide pitch and roll capabilities of ±60° while remaining compact. Testing of the robots range of motion shows the desired workspace is achievable. Visual tracking was used to record the precision of this motion. Positioning errors were relatively low with a root mean squared error of 1.1°. The prototype exhibits high strength and is able to withstand axial forces of 80 N and torques up to 300 N mm. Future research will focus on the development of a 5 mm diameter manipulator.",

author = "Rohan Nowell and Bijan Shirinzadeh and Leon Lai and Julian Smith and Yongmin Zhong",

year = "2017",

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publisher = "IEEE, Institute of Electrical and Electronics Engineers",

address = "United States of America",

note = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2017, AIM 2017 ; Conference date: 03-07-2017 Through 07-07-2017",

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Nowell, R, Shirinzadeh, B, Lai, L, Smith, J & Zhong, Y 2017, Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery. in O Sawodny (ed.), 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017). IEEE, Institute of Electrical and Electronics Engineers, Piscataway NJ USA, pp. 749-754, IEEE/ASME International Conference on Advanced Intelligent Mechatronics 2017, Munich, Bavaria, Germany, 3/07/17. https://doi.org/10.1109/AIM.2017.8014107

Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery. / Nowell, Rohan; Shirinzadeh, Bijan; Lai, Leon et al.
2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017). ed. / Oliver Sawodny. Piscataway NJ USA: IEEE, Institute of Electrical and Electronics Engineers, 2017. p. 749-754.

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

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T1 - Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery

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AU - Shirinzadeh, Bijan

AU - Lai, Leon

AU - Smith, Julian

AU - Zhong, Yongmin

N1 - Conference code: 16th

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Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery

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