Hexapod Structures in

Surgical Applications
Presented by
Sanjay Shirke
Muhammad Umer
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
The Hexapod - A Brief History of
Design
1800s Mathematician Augustine Cauchy studies rigidity of
polygons
1947 Dr. Eric Gough applies the parallel kinematic platform to a
tire testing machine developed working under Dunlop.
1962 Klaus Cappel develops vibration equipment for Franklin
Institute.
1965 Stewart platform developed for aircraft simulation.
1995 Frauhofer Institute in Stuttgart, Germany approaches
Physik Instrumente to develop the surgical robot.
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
The Hexapod - A Brief History of
Design
Fig.1. 1949-2000 (a)The original Dunlop tire testing machine invented by Eric
Gough, (b) The modern tire testing machine.
(a) (b)
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
The Hexapod - A Brief History of
Design
Fig.2. 1965 -1970 (a)The original Stewart Platform for aircraft simulation, (b)
later incorporating the design of an octahedral hexapod.
(a)
(b)
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
The Hexapod - A Brief History of
Design
Fig.3. 6 DOF motion achieved through 6 strut linear actuators. The resulting rapid,
submicron multi-axis translation and rotation makes the hexapod ideal for precision surgical
applications.
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
The Hexapod - A Brief History of
Design
Universal Joints - offer 2
rotational DoF
Linear Hydraulic Actuators -
offer 2 DoF: 1 translation and 1
rotation
Source: Marks Standard Handbook
for Mechanical Engineers
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
Hexapods Engineering and Kinematic
Principles
Mobility The Kutzbach Criterion:

n = 12 (struts) + 1(base) + 1(platform) = 14





c = 3 x 6 x 4 = 72
M = 6(14 1) 72 = 6 DoF

j
i
i
c n M
1
) 1 ( 6
Quantity Occurrences Constraints # DoF Description
6 Base: Yoke 1/ Yoke 2 Universal Joint 4 2 RR
6 Strut Lower end (Y2) / Strut upper end (Y3) 4 2 TR
6 Strut Upper end (Y3) / Platform Universal Joint (Y4) 4 2 RR
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
Hexapods Engineering and Kinematic
Principles
Range of Motion and
Resolution


Models M-800.11 M-800.12
Travel X [mm] 35 64
Travel Y [mm] 35 59
Travel Z [mm] 14 26
Travel Theta-
X/Theta-Y
[] 8 20
Travel Theta-Z [] 25 45
Actuator stroke
[mm] 13 25
Resolution X/Y
[m] 1 2
Resolution Z [m] 0.5 1
Resolution Theta-
X/Theta-
Y/Theta-Z
[arcsec] 1 1.4
Fig 4. The Physik Instrumente M-800.11
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
Hexapods Engineering and Kinematic
Principles
Design Criteria
Minimize mass and inertia for
maximum speed and
acceleration.
Strut Operation linear
hydraulic actuators
Joint Design Universal or Ball
and Socket
Integrity tested with CAD,
FEA, and laser vibrometery
tools.

Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
Is the Hexapod really worth it?
advantages
Complete range of motion.
High precision and
accuracy
Computer visualization
tools
High stiffness
High load/weight ratio
limitations
Friction
Length of struts
Dynamic thermal growth
Calibration

Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
Development of Surgical Applications
Hexapod vs. Nonapod
Extra legs contain
redundant sensors
Insures against failure
of standard measuring
system
Reliability increase is
of the essence
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
The future of Parallel Kinematics
Minimize Friction, hysteresis, and backlash
Improve material composition to limit thermal
growth
Actuators A future in the voice coil?
Currently, applications are limited to endoscopy.
Incorporate use of scissors, forceps, balloon catheters and
coagulation probes.
Endorse the use of a cockpit to create a virtual surgery
environment
Expand to the fields of orthopedics, ear/nose/throat
surgery, and ophthalmology.

Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
Bibliography and References
Avallone, E.A., Baumeister III, T., Marks Standard Handbook for
Mechanical Engineers 10
th
Edition, McGraw-Hill, New York, 1996
Hale, Layon C., Principles and Techniques for Designing Precsion
Machines, UCRL-LR-133066, Lawrence Livermore National
Laboratory, 1999.
Smith, S.T., Chetwynd, D.G., Foundations of Ultraprecision
Mechanism Design, Gordon and Breach Science Publishers,
Switzerland, 1992.
Low-Inertia Parallel-Kinematics Systems for Submicron
Alignment and Handling
(http://www.parallemic.org/Reviews/Review012.html)
Why Hexapods and Parallel Kinematics?
(http://www.hexapods.net/hexapod.htm)
Shirke/Umer
March 18, 2003
Hexapod Structures in Surgical Applications
ME 250 - Precision Mechanism Design
Bibliography and References
Six DOF Hexapod: Challenge of Design and Innovation
(http://biotsavart.tripod.com/hexapod.htm)
Surgeon Navigates from Operating Cockpit
(http://www.hoise.com/vmw/articles/LV-VM-05-98-17.html)
History of the Universal Joint (http://www.driveshafts.com/u-
joint.html)
M-850 Hexapod 6-Axis Parallel Kinematics Robot
(http://www.physikinstrumente.com/micropositioningsystems/8_4.
html)