Lightweight Actuation for a Robotic Forceps Module in Ophthalmic Microsurgery

Institut

Lehrstuhl für Ergonomie (TUM-ED)

Typ

Semesterarbeit / Masterarbeit /

Inhalt

experimentell / konstruktiv /  

Beschreibung

This is a cooperation project with MAPS Laboratory, TUM Klinikum Rechts der Isar.

Project Background

Robot-assisted systems are transforming ophthalmic microsurgery by enabling precision and stability beyond human manual capabilities. At MAPS at TUM Klinikum Rechts der Isar, a system for robot-assisted eye surgery is under development. A key part of this system is the end effector, which must actuate standard surgical instruments while staying compact and lightweight enough to integrate on the robot.

For this purpose, a forceps gripping and rotation module has been developed and is fully functional. It opens and closes the forceps, rotates them about the tool axis, and shares the mechanical and electrical interface of the existing surgical robot. However, the current module has a limitation as both actuators are larger and heavier than necessary, which limits the integration of the module on the robot.

Thesis Objective

The primary goal of this thesis is to reduce the size and weight of the actuation unit while keeping full functionality and compatibility with the existing system. Starting from measurements on the current module, suitable motors will be selected and integrated with the existing motor driver boards and controller firmware. The mechanical design of the module will be adapted to the new motors. The resulting prototype will be evaluated against the current module in terms of gripping force, rotation accuracy and repeatability.

Scope of Work

1. Analysis of the existing module: required torque, speed, travel and duty cycle of the gripping and rotation axes.
2. Documentation of the current motor, driver board and controller board, including their communication interface.
3. Motor selection compatible with existing hardware based on torque, size, mass, resolution and feedback options.
4. Electrical and firmware integration: verify operation of the selected motors with the existing driver boards and control software or define the minimal required changes.
5. Mechanical redesign of the module in CAD (mounts, gearing, cable routing) and prototype assembly.
6. Experimental validation of the new module and comparison with the current design.

 

How to apply

Please send an application including your CV to Ling Zhang, M.Sc., ling.zhang(at)tum.de

More information

https://augenklinik.mri.tum.de/de/Forschung-und-Lehre/MAPS

Voraussetzungen

• Basic knowledge of electric motors and drives (stepper or BLDC motors).
• Experience with CAD software.
• Interest in hands-on work: building, wiring and testing hardware.
• Beneficial: experience with embedded firmware (e.g., STM32 or Arduino) and serial protocols (e.g., CAN, RS-485).
• Beneficial: experience with 3D printing and rapid prototyping.

Möglicher Beginn

sofort

Kontakt

Mirza Imamovic
Raum: MW3303
Tel.: +49 1520 3067241
mirza.imamovictum.de