Development of Recyclable Endoscopic Surgical Robot System

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A surgical robot system was developed and evaluated. The robot arms compose of a spherical ultrasonic motor (SUSM) as the actuator and a position sensing system using optical fibers. The system compose of a motor driver, the master-slave type robot, and the control software.1.A manipulator using a SUSM was developed. Compared with conventional ultrasonic motors, the novel SUSM's size is one-thirds to quarter. the SUSM demonstrated a good responsibility and high positioning accuracy. the SUSM's maximum torque and rotational speed are 3.7mNm and 62 rpm, respectively. The position sensing system using optical fibers was evaluated. The results shows that the positioning accuracy is less than 0.1mm. Thus, the feasibility of the surgical manipulator was demonstrated.2.The motor driver using the phase difference control was developed for the safety of the surgical robot and the protection of the miss motion error. An auto following function of the phase difference allowed the robot system to control the torque in safety. The vibration of the robot arm has been eliminated by the driver and the control method. A prototype master-slave robot system was developed. The system employed the bilateral mechanism, and the ultrasonic motors are used at the master mechanism. Therefore, the force at the hand is transferred to the master-hand quickly and accurately. On the other hand, the MRI compatibility was tested in An MRI environment. Good MRI images was obtained for medical diagnosis.