Extension of D-H Parameter Method to Hybrid Manipulators used in Robot-Assisted Surgery

What is it about?

The main objective of this work is to develop the kinematic model of a 7-DOF hybrid manipulator. The prototype of this 7-DOF hybrid manipulator, known as a surgeon-side manipulator to assist the surgeon during a medical surgery, is also developed at CSIO Chandigarh to validate the kinematic model derived in this work.

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Why is it important?

The key features of this work are ,  The major contribution of this work is to deal with hybrid manipulators, which are useful in robot-assisted surgeries. A 7-DOF hybrid manipulator (MMA) is considered in this work, which is called as the surgeon-side manipulator, as it assists the surgeon to record the desired moves, which the patient-side manipulator is supposed to follow, while performing a medical surgery.  The complete kinematic model of a hybrid manipulator, which is a combination of open and closed chains containing planar and spatial links, is developed in this article.  The concept of dummy frames is proposed in this work to remove the orientational inconsistency, which occurs when the MMA is modeled with the standard D-H parameter method.  The physical prototype of a 7-DOF hybrid manipulator is developed to validate the kinematic model obtained analytically.