Republic of Iraq

Ministry of Higher Education

& Scientific Research
AL-Nahrain University
Information Engineering College
Systems Engineering Department

Robot medical applications

and D-H Example

4th year - Report

in
Robot and Automation

By
Haider Hashim Dkhikh

Supervised by
Lect. Zeyad A. Karam

July 2020
 Abstract

In this report, the robots used in medical applications will be explained in detail,

as well as a wide range of medical robot applications for which scientific research has

been done. He then explained a detailed example of the 2DOFs rehabilitation robot

type 2 medical robot with details of the circuit and flowchart programming and also its

motion equations.

The second part is the solution of D-H Example, an integrated solution and

finding its movement equations and also entering those equations for the Matlab

program to find some parameters and draw them with time.

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1. Introduction

1.1 Overview of Robot medical applications

a wide range of robots is being developed to serve in a variety of roles within

the medical environment. Robots specializing in human treatment include surgical
robots and rehabilitation robots. The field of assistive and therapeutic robotic devices
is also expanding rapidly. These include robots that help patients rehabilitate from
serious conditions like strokes, empathic robots that assist in the care of older or
physically/mentally challenged individuals, and industrial robots that take on a variety
of routine tasks, such as sterilizing rooms and delivering medical supplies and
equipment, including medications. [1]

Medical robots for diagnosis and intervention used in different illness: It is

important to insist that an excellent collaboration is a must to follow in the design of
each Bio mechatronics device among specialized clinicians, therapists, engineers and
scientific from different fields to fill all the requirements of an acceptable technology
health solution. For example, for Medical robots for diagnosis and intervention. Where,
Robotics for healthcare are defined a system capable of doing Bio mechatronics actions
based on the analysis of signals sensors to provide healthcare including medical
diagnosis confirmation, to deliver treatments, to support rehabilitation, to support
patients in preventions programs, etc. The most common requirements for medical
robots are [2]: Safety, Quality, remotely handled, Enhanced access for documentation,
Overall cost of health care cheaper, allow inaccessible areas, Independent living, Allow
social participation.

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1.2 Literature Survey for Robot medical applications

In this section, we review the most famous medical robotics applications and the
field of health concern previously used, which many scientific researchers have been
written about in the past.

1- Telemanipulation in Minimally Invasive Surgery

Minimally invasive surgery (MIS) challenges the surgeon’s skills due to his separation
from the operation area which can be reached by long laparoscopic instruments only.
To overcome the drawbacks of conventional MIS the DLR works on a research system
for telerobotic endoscopic surgery. [3]

2- Robotic Waterjet Surgery

In waterjet surgery a thin and high pressure waterjet is used to wash soft tissue away
whereas structures with a higher mechanical resistance against the waterjet impact like
nerves and vessels remain intact. By use of robotics the minimally invasive field of
applications for waterjet surgery can be expanded. [4] [5]

3- Intraoperative Detection of Arteries Using Ultrasonic Sound

A problem of minimally invasive robotic surgery (MIRS) is the absence of haptic
feedback from the operation site. In conventional surgery, however, palpation is
commonly used to detect superficial arteries by a slight pulsation. The DLR develops
a system based on a new, unidirectional ultrasonic probe, which enables the surgeon to
palpate such arteries also in minimally invasive interventions. [6] [7]

4- Rehabilitation Robots
These play a crucial role in the recovery of people with disabilities, including
improved mobility, strength, coordination, and quality of life. These robots can be
programmed to adapt to the condition of each patient as they recover from strokes,
traumatic brain or spinal cord injuries, or neurobehavioral or neuromuscular diseases
such as multiple sclerosis. Virtual reality integrated with rehabilitation robots can also
improve balance, walking, and other motor functions. [8] [9]

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5- Continuum robots for minimally invasive orthopaedic surgeries
Current minimally invasive orthopaedic surgeries use straight, rigid tools that have
little dexterity at the tip. The rigidity limits the reachability and maneuverability in the
small confined space in most minimally invasive orthopaedic settings such as
arthroscopy for knee, hip or shoulder. This project aims to develop highly dexterous
snake-like tools for both manual and robotic orthopaedic surgeries by applying novel
continuum mechanisms to the design and implementation. The increased flexibility and
dexterity will significantly expand the reachability and improve the maneuverability of
the tools either in a manual minimally invasive surgery or a robot-assisted orthopaedic
surgery. [10] [11]

6- Micro parallel robot MIPS for medical applications

MIPS is a micro robot with a parallel mechanical architecture having three degrees of
freedom (one translation and two orientations) that allow fine positioning of a surgical
tool. The purpose of MIPS is to act as an active wrist at the tip of an endoscope and to
provide to the surgeon an accurate tool that may furthermore offer a partial force-
feedback. The current prototype has a diameter of 7 mm for a length of 2.5 cm and
includes all the necessary hardware. We will explain why a parallel architecture has
chosen, the method of optimal design that has been used for determining the
dimensions of the robot and present the current prototype. [12]

7- Outer shell type 2 DOF bending manipulator using spring-link mechanism for
medical applications
robotic technology has been introduced to medical fields and many surgical robots have
been presented not only in academic fields but also as commercialized products. In this
paper, an outer shell type 2 DOF bending manipulator using a spring-link mechanism
is presented. The mechanism was developed for a surgical robot, which can implement
various surgical treatment devices inside of the manipulator. [13]

Figure (1-1): Robot medical applications

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1.3 2DOF's Rehabilitation Robot for Upper Limb Example

The rehabilitation robot is a training movement for a human upper limb as a

rehabilitation robot. The work consist of hardware and software design, the first part
of the hardware design is the two links non-wearable rehabilitation robot, where each
link have ability to adjusting its links length, the length changing make the robot links
a feasible for all human limbs length, each link actuated by Dc motor with gearbox for
high torque and powered by incremental shaft encoder type for counting the motor
shaft rotation that represents the desired position, these positions represent the desired
trajectories that the therapist will give to the patient and it will be controlled from the
computer controller. The second part is involving the design and implementation of the
two circuits: the reading circuit to read motor shaft position and the driving circuit to
control the motor shift for the desired position of the references trajectory. Each one of
the circuits will be connected with Matlab Simulink controller for transmitting the
control signals from the Matlab controller and receive the feedback sensed position
from the motor sensor. The reading circuit is the circuit through which the pulses
generated from the motor shaft encoder is detected and read and counted and the total
number is transmitted to the Arduino and the according to the operator who will specify
the angles of trajectory for the arm movement [14] [16]. The Simulink controller that
will design in Matlab Simulink includes one of the fuzzy systems like PID controllers,
and this chose due to the abilities of the fuzzy controller form dealing with highly
nonlinear systems and overcome the dynamic issues of overshoot and uncertainties and
robot frictions. Which enable the user to give the desired command that represents the
desired treatment trajectories to the driving circuit which will move the robot hand as
well as the human limb and commence the training of the patient [15] [17].

Figure (1-2): 2DOFs rehabilitation robot

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The equations of the forward kinematic [17]:

𝐩𝒙 = 𝑳𝟏 𝐜𝐨𝐬 𝜽𝟏 +𝑳𝟐 𝐜𝐨𝐬(𝜽𝟏 + 𝜽𝟐 )

𝐩𝒚 = 𝑳𝟏 𝐬𝐢𝐧 𝜽𝟏 + 𝑳𝟐 𝐬𝐢𝐧(𝜽𝟏 + 𝜽𝟐 )

𝐩𝒛 = 𝟎

Figure (1-3): simulink for Forward Kinematic.

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2. D-H Example

Figure (2-1): FANUC R-200iC/165 Robot with specifications it.

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 Figure (2-2): Schematic Link coordinates of axes and joints.

Table (2-1): D-H parameters for 6DOF's Manipulator Robot.

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the result is Homogenous transformation matrix (𝑇06 ):

𝑻𝟔𝟎 = 𝑨𝟏 𝑨𝟐 𝑨𝟑 𝑨𝟒 𝑨𝟓 𝑨𝟔

The equations of the forward kinematic form transformation matrix (𝑇06 ):

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 In this application, the initial location and orientation of the robot are known and
using the forward kinematics, which finds the final joint angles for the desired position
and orientation. Now consider one of the joints, which at the beginning of the motion
segment at a time 𝑡𝑖 is at 𝜃𝑖 .That desire to have the joints move to a new value of 𝜃𝑓 at
time 𝑡𝑓 [14].
The Simulink MATLAB® program of the trajectory configure by using the forward
kinematic, the input 𝜽𝒊 , 𝜽𝒇 and the equations Px, Py, Pz. as shown in Figure (2-3).

Simulink Matlab:

Figure (2-3): 6DOFs Manipulator Robot simulink when theta (30,45,90,120,180)

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M-file for function Forward kinematic & Trajectory:

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M-file for Plot(t,Px,t,Py,t,Pz):

Result:
The results after calculation the theta inputs, 𝜃1,𝑖,𝑓 , 𝜃2,𝑖,𝑓 , 𝜃3,𝑖,𝑓 , 𝜃4,𝑖,𝑓 𝑎𝑛𝑑 𝜃5,𝑖,𝑓 .The
theta initial 𝜃1,𝑖 , 𝜃2,𝑖 , 𝜃3,𝑖 , 𝜃4,𝑖 and 𝜃5,𝑖 equals zero in all state, and also
representation Px (blue), Py (green), Pz (red) with time using MATLAB program as
Figure (2-4). when theta (30,45,90,120,180).

Figure (2-4): Px, Py, Pz with time representation of Trajectory Test movement for the
6DOF's Manipulator Robot.

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References
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