(1.

) Introduction :

Robotic Minimally Invasive Surgery (MIS): Robotics is being introduced to medical sciences as it allows for unprecedented control and precision of surgical instruments in minimally invasive (MIS) procedures [2, 8]. Surgery using manipulator systems for medical treatment has attracted considerable attention as a method for realizing certain minimally invasive surgeries. In MIS, the operation is performed with instruments/tools along with viewing equipment inserted into the body through small incisions in the body instead of large incisions/cuts made in the case of conventional surgeries. In conventional surgeries, surgeons have to work with the tools held by them which have disadvantages such as operational inaccuracy due to tremors, long operation time and fatigue to the surgeons and thus reducing the concentration. This also has an effect on the patient like surgical trauma, damage of healthy tissues and longer recovery time. This type of surgery is used in operation such as laparoscopy [4], removal of gall-bladder, naval surgery, and closed chest surgery [3] and also in neurosurgery [11]. MIS thus involves use of special surgical tool/instruments with an observation of surgical field through an endoscope. The tool is of 10-15 mm in diameter which is inserted through trocar (a cylindrical tube with pointed end for easy insertion) in the patients body to make an incision.

(1.1) Description of the MIS system (a) At present there are several surgical manipulators currently applied to clinical use mainly in western countries, such as the da-Vinci (Intuitive Surgical Inc. ,CA) [2] and Zeus systems(Computer Motion Inc. ,CA) [2], which have been fairly well appraised by clinicians for good manoeuvrability and they have realized MIS by the use of dextrous manipulators. These systems consists of 3 parts which are (1.) Master manipulator, (2.) control system and (3.) Slave manipulator (2 to 3 along with an endoscope). Master manipulator is a type of link system which is operated by surgeons hands to transmit motion to the end-effector/wrist mechanism attaches to the slave manipulator. Control system consists of microprocessors and electrical arrangement to convert the hand movements imparted by hands to the wrist attached at the end of the tool. Third is the slave manipulator which is a detachable tool (mechanical device) used to carry deflectable instrument tip which moves inside the body at the surgical site, having a driving mechanism located outside the body. This tool is mounted on a gross positioning stage or

structure which is located outside the body and is responsible for locating the instrument tip attached to the mechanical device. This deflectable tool thus performs the function likewise performed by wrist of surgeon. Wide no. of tools can be attached to the end-effector for e.g. tweezers, scissors, forceps, and needles. So, various functions can be performed by this surgical tool. The system also consists of an endoscope which provides a 3-d image of the operational site or working area so as to provide the surgeon with a real working environment, which he can see on the monitor placed in front of him.

(b) Tool description The tool which enters the body through the incision should have 3 to 6 d.o.fs so that it can effectively move inside the working space. Some motions which the tool has to undergo are rotation or roll, pitch, yaw, translation.

Disadvantages: The system developed so far is bulky, costlier and requires lot of training to perform the surgery. The onsite requirement of the assistants to the surgeons is also a limitation. Basically 3 to 4 attendants are required. The drive system used to obtain motions of the deflectable tip is also little complex with lots of mechanisms and drive wires incorporated in it, thus making the construction of the instrument a bit difficult. For e.g. in some devices torque tubes, bellows, shape memory alloys are used to achieve the required motions.

Advantages: In this article what we have suggested to design a prototype of the surgical or detachable tool having 4 d.o.fs which is simply driven by the help of the motors (D.C. servomotors) and wires (or threads) pivoted to the motors at one end and to the deflectable tool tip on the other end. This helps in providing an easy and effective way of controlling the deflectable tool which the surgeon operates through his hands by providing motions through master manipulators. The movements are scaled and transmitted through independent motors used to drive the tool tip. This result in dextrous use by the surgeon and helps in reducing fatigue which the surgeons undergo and also reducing the cost of the system to a very considerable amount which is the main criteria of bringing it to its final production stage.

(2.) Concept diagram and description. The proposed concept of the detachable tool design is shown below in the diagram along with the typical MIS robot system.

Figure 1: Typical MIS robot system. The detachable tool or the so called slave manipulator is shown in the right side of the above diagram. The main focus is on the conceptual designing of this detachable tool.

Figure 2: Concept design of the surgical tool. This detachable surgical tool assembly as shown above has a forceps or gasper or surgical scissor attached to it at one end which enters inside the body and performs the required operations. The whole assembly is shown below with its different parts labelled.

The detachable tool consists of a housing base plate and cover plate having a hollow cylindrical tube integrated with it as shown below inside which the tool is inserted so as to obtain the desired motions i.e. roll, pitch, yaw and gripper effect. The motors are mounted in this housing and motion is transmitted through titanium wires or threads to the forceps.

(3.1) Base Plate

. (3.2) Housing Cover Plate Figure 3: Tool Holder Assembly This housing tool assembly has an integrated cylindrical section attached to it through which another cylindrical tube (rolling tool device) is passed which provides rolling motion to the parts attached ahead. In addition to it, the housing cover plate is provided with rack teeth on it which is driven by spur gear mounted on a motor shaft attached to gross positioning structure

to provide translational motion to the assembly as a whole. The parts attached to it are rolling tool device, pitching tool device, yaw tool device and gripper.

Figure 4: Rolling Tool Device The rolling tool device has at one end in the housing is provided with spur gear teeth to transmit rolling motion to the cylindrical part through gear mounted on the motor. At the other end of it is provided with holes for stud or pin joint and the pitching tool device is mounted on it.

Figure 5: Pitching Tool Device

The pitching tool device has at its one end provided with pins so as to mount it on the rolling tool device. The other end has holes on which the gripper is mounted. The pitching motion is provided with the help of guide wires pivoted to pitching tool device on the outer periphery as shown in the figure above. The wires are pivoted at other end to the disc or shaft attached to the motor. As the motor rotates in clockwise and anticlockwise direction, the pitching device pitches up and down respectively, depending upon the configuration.

Figure 6: Pulley with Integrated Gripper Part The integrated gripper shown above has two parts upper and lower gripper. The lower gripper is fixed on the pin and has a slot in it and the upper gripper has a pin attached to it which moves in the slot so as to restrict the gripper motion to certain and a definite limit. Through centre of the integrated gripper passes a pin which is attached to each gripper and attached to the pitching tool device at the end where hole is provided. The lower gripper provides yaw motion and it is attached to the motor through guide wires pivoted at one end to the integrated gripper pulley and at other end to the disc attached to the motor. The upper gripper is used to provide gripper effect and it rotates in a definite path with the help of another pin integrated to it near the circumference. The rotation is provided with the help of motor through wires pivoted on the integrated gripper pulley at one end and on the disc attached to the motor. The motors m1, m2, m3 as shown in the figure are mounted with horizontal axis and arrangement can be made to mount them with vertical axis and thus using less space. Approximate dimensions and performance goals for the detachable tool: Length and diameter of cylindrical part of the housing: 450 -500 mm and 15-18 mm Dimension of the housing part in which motors are accommodated: 50x100x80 (x, y, z)

Diameter of rotating tool: 12-14 mm Rolling angle: 180-270 degrees Pitching angle: 180-200 degrees Yaw angle: 120-180 degrees Translation of the whole assembly: 50 mm (minimum) Gripper jaw opening: 10 mm (maximum) Speed: grasper or forceps closing and opening action: 1 sec Rolling: 270 degree per sec Pitch: 180 degree per sec Yaw: 180 degree per sec (These speeds also depends upon the motors used to drive and can be varied.)

(3.) Kinematic analysis: Kinematic analysis [1] of the detachable tool is done so as to maintain the orientation of the gripper face or the coordinates attached to it with respect to the other parts of the tool. Coordinates are attached to the gripper face, yaw axis, pitch axis and roll axis of the tool so that a definite motion and orientation can be obtained between all the parts thus avoiding any random motion as well as orientation. For this an understanding of manipulator kinematics [5, 9, 10] is done which is the science of motion without taking effect of the forces in picture. Here, we basically emphasise on the position, velocity and acceleration. Study of kinematics of manipulators refers to all the geometrical and time based properties of the motion and also involves how to locate the frames to the mechanism. Here we compute position and orientation of the manipulators end-effector (in this case it is the gripper) relative to base of the manipulator (here it is the roll axis) as a function of joint angles. To obtain kinematics equation of mechanism [9,10] we need parameters to describe the link itself and connection between the links. The link parameters are a (which is the length of the link) and (which is the angle between joint axis of the link or link twist) and the parameters describing the relation between the connection of two links are d (link offset) and (joint angle). Definition of mechanism by means of these quantities is a convention used by DENAVITHARTENBERG NOTATION, also called D-H parameters [1], which is a table having the above 4 parameters and there values are given corresponding to each joint.

In the design we have joints between upper gripper (which gives gripping effect) and yaw pin (on which lower integrated pulley-gripper is fixed), between yaw pin and part 2 (which provides pitch motion) to which yaw pin is assembled, between part 2and part 1 (which provides roll motion). The conceptual design will be prepared by providing optimal link lengths, keeping in mind the material to be used for the fabrication of the material while making the system as light as possible. The workspace or work-volume which is too small is to be calculated and optimized so that a definite motion in small space is achieved without any hindrance. The speed or velocities (linear and angular both) with which each part moves is also calculated and optimized to meet the requirements useful for completing the surgery. Also, to develop understanding towards the analysis of flexibility and space of motion of the links, we study and develop equations of motion for the conceptualized manipulator or endeffector design which in turn describe the way in which motion of the manipulator arises from torques applied by the actuators or from external forces applied to the manipulator. Also use of Jacobian matrix [9,10] is done, which is a multidimensional form of derivative and is used in robotics to relate Joint velocities to Cartesian velocities of different parts in relation to each other. Next we also work for any singularities [9,10] of the present in the system, i.e. the condition where the Jacobian becomes singular, as in this condition the tool or manipulator losses one or more degree of freedom and hence reduces the d.o.fs of the detachable tool assembly.

(4.) Results: The angular velocities and linear velocities are calculated for each joint and link first with the help of simulation software to decide the optimal dimensions and the parameters of each joint and link. Then, the work volume and workspace is optimized to obtain maximum amount of motion within the workspace as the main limitation is the working space which is very limited inside the body. Then fabrication of the tool is done and experiments conducted first in an open environment to achieve the desired range of motions of the deflectable tip.

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