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Robotic-assisted surgery systems like the Medtronic HUGO RAS platform place motors and control electronics at the distal end of the arm, resulting in high distal mass, large inertia, and the need for a heavy 500 lb counterweight. This increases system footprint, makes repositioning difficult, and contributes to operating room staff fatigue.Â
This project investigates a remote robotic drive architecture that relocates the distal mass to a compact base module. Motion would be transmitted through a multi-functional cable/tube assembly to maintain surgical precision while reducing distal mass, inertia, and overall system footprint.
This project is being conducted in collaboration with Medtronic to implement a remote drive architecture for the HUGO surgical robotic arm by relocating actuation components to the base to reduce distal mass and system footprint. Hydraulic, pneumatic, and tendon-driven actuation concepts were evaluated through system-level analyses and decision matrices, resulting in the selection of a pneumatic remote-drive solution based on performance, controllability, and integration feasibility.
In parallel, the project involves leading project management efforts, including defining timelines, tracking milestones, and coordinating cross-functional workstreams. This also includes overseeing test rig development, supporting actuator integration and calibration, and ensuring consistent progress through structured planning and stakeholder communication.
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