Finite element analysis of natural frequencies and mode shapes of the da Vinci medical robot arm

• Autorzy: Geda Helena , Kuliberda Agata , Stręk Tomasz
• Języki publikacji: EN

Abstrakty

EN

This paper presents an analysis of the natural frequency and mode shapes of the arm and the working tip of the da Vinci robot, which is used in various types of surgical procedures. The survey was conducted using Autodesk Fusion 360. Using the da Vinci robot's construction data, a model was designed taking into account the characteristic dimensions and materials used. The obtained shapes of vibrations for natural frequencies allowed us to predict the influence of resonance phenomenon on the manipulator's arm. The movement of the tool along the wrong track, caused by an increase in vibration amplitude, may adversely affect the operation of the device. The results of the conducted research, therefore, provide information for which natural frequencies the values of these amplitudes increase.

Słowa kluczowe

EN

natural frequencies; mode shapes; finite elements method; medical robot arm

PL

częstości własne; drgania własne; metoda elementów skończonych; ramię robota medycznego

• Wydawca: Poznan University of Technology. Institute of Applied Mechanics
• Czasopismo: Vibrations in Physical Systems
• Rocznik: 2020
• Tom: Vol. 31, nr 2
• Strony: art. no. 2020205
• Opis fizyczny: Bibliogr. 11 poz., il. kolor., fot., rys.

Twórcy

autor

Geda Helena

• Poznan University of Technology, Faculty of Mechanical Engineering, Institute of Applied Mechanics, ul. Jana Pawla II 24, 60-965 Poznan, Poland

autor

Kuliberda Agata

• Poznan University of Technology, Faculty of Mechanical Engineering, Institute of Applied Mechanics, ul. Jana Pawla II 24, 60-965 Poznan, Poland

autor

Stręk Tomasz

• Poznan University of Technology, Faculty of Mechanical Engineering, Institute of Applied Mechanics, ul. Jana Pawla II 24, 60-965 Poznan, Poland

Bibliografia

• 1. R. Tadeusiewicz, Fundamentals of surgical robots construction and operation - Part 1 (in Polish: Podstawy budowy i działania robotów chirurgicznych cz.1), Inżynier i Fizyk Medyczny, 3(5) (2014), 267-272.
• 2. R. Tadeusiewicz, Fundamentals of surgical robots construction and operation - Part 2 (in Polish: Podstawy budowy i działania robotów chirurgicznych cz.2), Inżynier i Fizyk Medyczny, 3(6) (2014), 325-328.
• 3. H. Cheraghi, F. Piltan, N. Sobhani, M. Rahmani, and F. Matin, A Motor Vibration Control for Robot Arm with Application to Surgical Tools, International Journal of Hybrid Information Technology, 8(6) (2015), 65-78.
• 4. Allan F. Bower, Applied Mechanics of Solids, CRC Press, Taylor & Francis Group, Boca Raton (FL) 2010.
• 5. G. Ilewicz, Z. Nawrat, Structural vectorial optimization of medical robot’s tool using finite element method (in Polish: Strukturalna optymalizacja wektorowa narzędzia robota medycznego z wykorzystaniem metody elementów skończonych), Acta Bio-Optica et Informatica Medica. Inżynieria Biomedyczna, 22(4) (2016) 234-244.
• 6. O.C. Zienkiewicz , R.L. Taylor , The Finite Element Method, Volume 1-3, 5th edition, Butterworth-Heinemann, Oxford 2000.
• 7. S.K. Longmore, G. Naik, G.D. Gargiulo, Laparoscopic Robotic Surgery: Current Perspective and Future Directions, Robotics, 9 (2020) 42.
• 8. https://grabcad.com/library/robots-arm-1
• 9. https://www.unitypoint.org/cedarrapids/filesimages/Services/Surgery/Robot%20diagram.gif
• 10. https://mlodytechnik.pl/i/images/0/2/8/dz05MDImaD0xMjAw_src_13028-Robot_da_Vinci.jpg
• 11. https://healthcaremarketexperts.com/wp-content/uploads/2019/04/001.jpg

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).