Industrial Consultancy & Sponsored Research (IC&SR) , IIT Madras
Design of a 6 DOF Master Manipulator Arm with Enhanced Gravity Compensation and Compliant Grasping for Robotic Surgery
Technology Category/Market
Technology: 6 DOF Master arm of a tele-operated robotic system;
Industry: Medical Surgical Instruments;
Application: Orthopedics, Urology, Gynecology, Neurology, other;
Market: The global surgical robot market is projected to grow $12.73B by 2027 at a CAGR of 17.5% during the period (2022 -2027).
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Problem Statement
- In the Robotics surgeries, master arms used as input devices which help to capture the hand movement of an operator in space.
- In the prior design, there was at least 2 DOF which can move in a plane with an additional out of plane DOF.
- Said prior art design suffers from increased inertia including other associated issues.
- Further Parallel linkage-based design overcomes some of the balancing problems but has limited workspace compared to a serial linkage-based design.
Technology
- Present invention describes the design of a master arm which serves as an input device for a tele-operated robotic system.
- The master arm has 6 DOF (Degrees of Freedom) with strategically distributed mass which inherently provides partial self-balance and requires minimal number of counter masses for gravity compensation.
- The proposed design includes a wrist decoupled design.
Key Features/Value Proposition
Technical Perspective:
The master arm design requires minimal number of counter masses for gravity compensation.
- Proposed design offers reduced complexity, weight & backlash free operation with reduced joint friction.
- Said design uses a compliant mechanism –based grasper that uses flexures, & further uses a circular profile with a follower operates in linear motion.
- Said mechanism is immune to backlash, lubrication free and does not generate wear debris.
Industrial Perspective:
- Advantages both for serial & parallel linkages with minimum no. of balance masses.
Questions about this Technology?
Contact for Licensing
Research Lab
Prof. Asokan T
Department of Engineering Design.
Intellectual Property
- IITM IDF Ref.: 1332;
- IN Patent No. 424737 (Granted)
Technology Readiness Level
TRL- 3
Proof of Concept Ready Stage