Research Papers

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

[+] Author and Article Information
Chin-Hsing Kuo1

Department of Mechanical Engineering,  National Taiwan University of Science and Technology, 43, Sec. 4, Keelung Road, Taipei 106, Taiwanchkuo717@mail.ntust.edu.tw

Jian S. Dai

Centre for Robotics Research, King’s College London,  University of London, Strand, London WC2R 2LS, United Kingdomjian.dai@kcl.ac.uk

Those special MIS robots that use “noninvasive” technologies, e.g., the natural orifice translumenal endoscopic surgical (NOTES) robots and the autonomous miniaturized surgical robots are not considered in this discussion.

The notations follows the definitions in Ref. [32].


Corresponding author.

J. Med. Devices 6(2), 021008 (May 07, 2012) (12 pages) doi:10.1115/1.4006541 History: Received June 13, 2011; Revised February 16, 2012; Published May 07, 2012; Online May 07, 2012

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Copyright © 2012 by American Society of Mechanical Engineers
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Figure 1

The four DOFs of motion of an MIS instrument

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Figure 2

The projective displacement representation of the four motion DOFs of an MIS instrument

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Figure 3

Two examples of the projective displacement representation

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Figure 4

A fully-decoupled 4-DOF parallel manipulator for minimally invasive surgery

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Figure 5

Installation schematic of the manipulator

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Figure 6

Geometry of an auxiliary actuation leg in the proposed manipulator

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Figure 7

Geometry of the motion constraint leg in the proposed manipulator

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Figure 8

Geometry of the three parallel R-joints in the auxiliary actuation leg

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Figure 9

Joint screws of the proposed manipulator

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Figure 10

Geometric interpretation of direct singularity in the proposed manipulator

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Figure 11

Reachable workspace of surgical tool tip (point P) when dh  = 100 mm

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Figure 12

Reachable workspace of surgical tool tip (point P) when dh  = 200 mm

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Figure 13

Workspace volume of the manipulator (Three surfaces at dh  = 100, 150, and 200 mm)

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Figure 14

Joint loci for interference test between links and patient’s body-leg 1




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