A 4DOF Slave Robot for Laparoscopic Surgery

In my M.Sc. project, I designed and fabricated a 4 DOF surgical robot with force feedback for large organ manipulation in remote laparoscopic surgery. This compact robot weights only 2.5kg for the moving parts and occupies minimum space over the patient abdomen. To reach this goal, I used Multi-Objective Particle Swarm Optimization method to obtain the best values for mechanism link parameters. The robot was fabricated and the motors and sensor were implemented. The interface between the sensor and the actuators are designed and preliminary tests are performed. A conference paper on conceptual design is accepted in MMVR 19 and a journal article on optimization is prepared. The robot is registered with Patent No. 69928 in Industrial Property Registration Office.

Publications and patents:

• Alamdar A, Mirbagheri A, Farahmand F, Durali M. Design of a 4 DOF laparoscopic surgery robot for manipulation of large organs. In MMVR 2012.
• Alamdar. A, Jamshidifar H, Mirbagheri A, Farahmand F. A laparoscopic surgical robot with 4 DOF and force measurement capability. IRAN patent No 69928, 2011.