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Degradation Modeling Analysis for Microrobots Flexure Hinges Using Intracorporeal Surgeries

Abstract:

The new generation of instruments in the field of medical robotics aims to use devices that are less and less invasive for the patient. However, some of these microrobots are in underdevelopment and must undergo several tests in order to obtain the mandatory certifications to be used on patients. Indeed, one of the main tests to be validated is the accurate determination of their reliability and remaining useful life (RUL) in order to ensure optimal performance during the surgical procedure. This paper is focused on obtaining a degradation modeling for a microrobot dedicated to intracorporeal laser surgeries. For this purpose, simulated degradation data is collected from a four-bar complaint mechanism that fulfills the same behavior of a flexure hinge. For it, our work is based on the pillars of the Prognostics health and management (PHM). Knowing that a flexure hinge of the microrobot is a critical element and knowing that it is possible to have measures of the evolution of its performance and therefore of its degradation, we propose a data-driven degradation modeling by considering the normal life distribution in order to assess the reliability and the RUL. In conclusion, a data-driven model within the PHM study for lifetime estimation was presented.