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Konzeption und Entwicklung eines Transport- und Dockingsystem für Medizinroboter im Operationssaal

Schlenk, Christopher (2012) Konzeption und Entwicklung eines Transport- und Dockingsystem für Medizinroboter im Operationssaal. DLR-Interner Bericht. DLR-IB 572-2012/28. Diploma. TU München. 320 S.

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The Robotics and Mechatronics Center (RMC) of the German Aerospace Center (DLR) has developed MIRO, a new lightweight robot for surgery. The existing prototypes are optimized for minimal invasive surgery, but since flexibility was one of the central aims during the design process they can easily be adapted to a wide range of different medical procedures by using specialized instruments. In this work, a transportation and docking-system for up to four MIRO robots was developed. It should be able to position the robot arms based on a preoperative planning correctly at the side rails of the operating table. At the same time it should offer the possibility to serve as stand for one to four robots during surgery. First of all the requirements for such a system were collected from different sources: the organization of a typical operating room, the clinical workflow, the Medical Devices Act (MPG) and ergonomics. The received results were organized in a requirement list. Subsequently the central functions and structures of the system were identified based on this list. As fulfilling all the requirements in one system would have resulted in a very high complexity and size, it was decided to develop two independent systems: The support-system Maia, which can serve as base for the MIROs during the operation, and the transport- and docking-system Revolver, from which the robot arms can be transferred to the side rails of the operating table. Since it does not have to keep the robots in position during the operation, Revolver can be designed significantly slighter and lighter than Maia. Adjacently the solution principles for the most important functions of these two systems were determined. Wherever it was possible and reasonable, commercially available solutions were used. Afterwards the different modules of Maia and Revolver were constructed, assembled and optimized in PRO/ENGINEER. All necessary data for the building of the two systems (drawings, list of parts etc.) was created and composed. Finally the fulfilling of the requirements list was checked and possible improvements for both systems were investigated and assessed.

Item URL in elib:https://elib.dlr.de/79974/
Document Type:Monograph (DLR-Interner Bericht, Diploma)
Title:Konzeption und Entwicklung eines Transport- und Dockingsystem für Medizinroboter im Operationssaal
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:13 December 2012
Refereed publication:No
Open Access:No
Number of Pages:320
Keywords:Transport, Docking, Medizinroboter,
Institution:TU München
Department:Lehrstuhl für Medizintechnik
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Laskey, Jessica
Deposited On:19 Dec 2012 09:59
Last Modified:31 Oct 2013 14:41

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