Etude et réalisation d'un instrument motorisé avec retour de force pour un robot télé microchirurgie
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- The medical field is constantly improving. Surgery is becoming more accurate and efficient thanks to robotics. Indeed, different types of medical assistance have been developed allowing more complex surgical procedures. The objective of this thesis is to develop a motorized instrument with a return of effort, which will be integrated into the remote-operated robot developed by Léna Vanthournhout.. The latter is intended to improve the precision and reduce the time of the surgical procedure, mainly micro-anastomosis. This consists of the suture of micro blood vessels. The first part of the work concerns the realisation of the motorised clamp. It is 102 mm long, with a diameter of 28 mm and a weight of 91 g. That design was inspired by the work of Fabrice Serville. The second part explains the design and realisation of the joystick side pliers. A hall effect sensor and a magnet are used to recover the notion of clamp closure. In addition, an integrated spring engages from a certain threshold, allowing to simulate a contact. The clamp retains the morphology of a classic one, 200 mm long, 63 mm high, 16 mm wide and 27 g weight. In the third part, the link between the prototypes is made using an arduino card. The calibration relationship of the first prototype makes it possible to say that the displacement of the clamps is proportional to the current consumed by the engine. The second calibration gives the relationship between the output voltage of the hall sensor and the closing distance. Finally, an experimental study is carried out. It aims to compare the work carried out with the pliers commercially available. Although the return of effort is not electro-mechanical, it allows to compete with the other clamps. Indeed, the prototype realised allows to have a better feeling.