Konzeption und Entwicklung eines elektrisch angetriebenen Supportsystems für Medizinroboter im Operationssaal

Abstract

MiroSurge is a System for robot-assisted minimally invasive surgery currently developed at the German Aerospace Center (DLR). It consists of a variable number of MIRO lightweight robot arms, which can be equipped with different types of instruments for a wide range of surgical applications. To further extend the versatility of the system, the mobile support system MAIA was developed, where the robots can be moved independently from each other during the procedure. That way the system setup is simplified and the robots can be positioned in an advantageous configuration. In this work the existing concept was revised to enable electric position-controlled movement and fixation of the robot arms. By incorporating electric components the integration into the workflow of the operating room is simplified and the precision of the positioning increases. In a first step all system requirements regarding the planned use in the operating room and the internal targets of the DLR were gathered and organized. Based on these requirements the main functions of the system were identified and structured, appropriate solution principles were determined. Wherever feasible, commercially available components were used for the realization of the found solutions. All other parts were constructed using PTC Creo 2.0. The separate parts were virtually assembled and the overall design was optimized. A parts list and technical drawings were compiled and all necessary data for the building of the system was created. Finally the fulfilment of the prior formulated requirements was verified and following tasks and possible improvements were investigated. The result of this development process is an electrically driven system. The movement of each robot cart is created by a pulley, which is driven by an electric motor and rolls along a drive belt. The position is detected by a magnetic positioning system, where a cart-mounted sensor moves along a scale tape. The fixation of the carts is achieved using a shoe brake, which is actuated by a ball-type linear drive combined with an electric motor. The system is controlled via computer, all necessary motor controllers are situated in an additional mobile rack.