Giving assistance to surgeons during beating heart procedures is currently a great challenge in medical robotics: a high level of safety is required while the beating heart yields high forces and dynamics. In this article, we investigate the design of an active cardiac stabilizer that will provide a motionless area of interest during the surgery. A device architecture is introduced that is based on planar parallel mechanisms. Such mechanisms are particularly interesting for their manufacturing simplicity and compactness. With the considered architecture, spherical compliant joints based on a planar structure need to be designed. Here we present the use of a 3-RRR spherical parallel mechanism. Its kinematic and stiffness analysis are performed using pseudo-rigid body modeling. An optimization of the mechanism is then achieved, using a modified ant colony optimization technique. The achievable performance of this type of compliant spherical joint is then discussed before concluding on the device adequacy with respect to the surgical requirements.
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ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis
July 2–4, 2012
Nantes, France
Conference Sponsors:
- International
ISBN:
978-0-7918-4486-1
PROCEEDINGS PAPER
Design and Optimization for a Cardiac Active Stabilizer Based on Planar Parallel Compliant Mechanisms
L. Rubbert,
L. Rubbert
University of Strasbourg, Strasbourg, France
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P. Renaud,
P. Renaud
University of Strasbourg, Strasbourg, France
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J. Gangloff
J. Gangloff
University of Strasbourg, Strasbourg, France
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L. Rubbert
University of Strasbourg, Strasbourg, France
P. Renaud
University of Strasbourg, Strasbourg, France
J. Gangloff
University of Strasbourg, Strasbourg, France
Paper No:
ESDA2012-82278, pp. 235-244; 10 pages
Published Online:
August 12, 2013
Citation
Rubbert, L, Renaud, P, & Gangloff, J. "Design and Optimization for a Cardiac Active Stabilizer Based on Planar Parallel Compliant Mechanisms." Proceedings of the ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. Volume 3: Advanced Composite Materials and Processing; Robotics; Information Management and PLM; Design Engineering. Nantes, France. July 2–4, 2012. pp. 235-244. ASME. https://doi.org/10.1115/ESDA2012-82278
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