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Research Papers

Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot

[+] Author and Article Information
Jianmin Li

Key Lab for Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: jimmyzhq@gmail.com

Yuan Xing

Key Lab for Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: yuanxing1123@126.com

Ke Liang

Key Lab for Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: lkchina1984@sina.com

Shuxin Wang

Key Lab for Mechanism Theory
and Equipment Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: shuxinw@tju.edu.cn

Manuscript received March 20, 2014; final manuscript received September 16, 2014; published online November 14, 2014. Assoc. Editor: Rita M. Patterson.

J. Med. Devices 9(1), 011003 (Mar 01, 2015) (8 pages) Paper No: MED-14-1153; doi: 10.1115/1.4028651 History: Received March 20, 2014; Revised September 16, 2014; Online November 14, 2014

To deliver more value to the healthcare industry, a specialized surgical robot is needed in the minimally invasive surgery (MIS) field. To fill this need, a compact hybrid robotic wrist with four degrees of freedom (DOFs) is developed for assisting physicians to perform MIS. The main body of the wrist is a 2DOF parallel mechanism with a remote center-of-motion (RCM), which is located outside the mechanism. From the mechanical point of view, it is different from existing 2DOF spherical mechanisms, since there is no physical constraint on the RCM. Other DOFs of the wrist are realized by a revolute joint and a prismatic joint, which are serially mounted on the movable platform of the parallel mechanism. The function of these DOFs is to realize the roll motion and the in-out translation of the surgical tool. Special attention is paid to the parallel RCM mechanism. The detailed design is provided and the kinematic equations are obtained in the paper. Further, the Jacobian matrix is derived based on the kinematic equations. Finally, the paper examines the singularity configurations and implements the condition number analysis to identify the kinematic performance of the mechanism.

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Figures

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Fig. 1

DOF constraints of MIS at the incision point

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Fig. 2

The double parallelogram mechanism

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Fig. 3

Two movable planes with the intersection line passing through a fixed point

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Fig. 4

The kinematic structure of the robot wrist

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Fig. 5

The kinematic model of the 2DOF parallel RCM mechanism

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Fig. 6

The variations of the area of workspace versus the dimensional parameter β. (a) β = 20 deg, (b) β = 30 deg, (c) β = 40 deg, (d) β = 45 deg, (e) β = 50 deg, and (f) β = 60 deg.

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Fig. 7

The variations of γ versus the dimensional parameter β

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Fig. 8

A prototype of the proposed MIS robot: (a) the prototype of the proposed robotic wrist and (b) an installation scheme of the robot

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Fig. 9

The distribution of 1/κ(J) versus the title angles ψx and ψy when β = 30 deg

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