Design et conception d'une console de téléopération pour un robot d'assistance à la microchirurgie

Details

Supervisors

Fisette, Paul ; Herman, Benoît

Faculty

Ecole polytechnique de Louvain

Degree label

Master [120] : ingénieur civil mécanicien

Abstract

enAs part of reconstructive surgery operations for breast cancer, one of the most common methods is the DIEP (Deep Inferior Epigastric Perforator). During this operation, the surgeon must perform a microanastomosis, that is to say the suture of two blood vessels a few millimeters in diameter. In order to facilitate and improve the work of the surgeon, microsurgical robotic assistance has emerged. In most cases, the assistance systems are composed of two parts. On the one hand, a teleoperation master console is placed in the surgeon’s hands. On the other hand, a slave robot reproduces the movements of the console. Between these two elements, a computer allows their coordination, while scaling the movements and filtering the tremors, therefore increasing the surgeon performances. The goal of this thesis is to design a master console to go with the robot developed by the Université Catholique de Louvain. To better meet the needs of the surgeon and the robot, the console must offer 6 degrees of freedom to a stylus, 3 in translation and 3 in orientation. It must also comply with a busy environment, consisting of a user, a robot, a microscope and a patient. The console must apply gravity compensation and be as transparent as possible when in use. Finally, the console must offer a resolution of 50 μm at the end-effector. The console consists of two separate parts. A first part, the arm, manages the position of the stylus while the second, the wrist, is in charge of its orientation.