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Research Papers

Kinematic Design of a Generalized Double Parallelogram Based Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot

[+] Author and Article Information
Kang Kong

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

Jianmin Li

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

Huaifeng Zhang

Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: zhanghuaifeng0916@163.com

Jinhua Li

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

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 October 31, 2015; final manuscript received May 11, 2016; published online August 24, 2016. Assoc. Editor: Carl Nelson.

J. Med. Devices 10(4), 041006 (Aug 24, 2016) (8 pages) Paper No: MED-15-1289; doi: 10.1115/1.4033668 History: Received October 31, 2015; Revised May 11, 2016

Robot-assisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional techniques. To improve dexterity and back-drivability of the existing planar remote center-of-motion (RCM) mechanism, on which an active prismatic joint is required to drive the surgical tool move in–out of the patient's body, a two degrees-of-freedom (DOFs) planar RCM mechanism is proposed by constructing virtual parallelograms in this paper. The mechanism can be considered as a generalized double parallelogram; both of the actuated joints are revolute joints. This feature enhances the intrinsic back-drivability of the mechanism. The mathematical framework is introduced first to prove that the mechanism could execute RCM. Then, the inverse kinematics of the planar mechanism is solved, and the Jacobian matrix is derived in this paper. Further, the singularity and the kinematic performance based on the kinematic equations are investigated, and the workspace of the mechanism is verified. Finally, a prototype was built to test the function of the proposed RCM mechanism. The results show that the mechanism can fulfill the constraint of MIS, and it can be used as the basic element of the active manipulator in an MIS robot.

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Figures

Grahic Jump Location
Fig. 1

The incision point constraint of MIS

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Fig. 2

The double parallelogram structure

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Fig. 3

Conceptual design of 2DOFs planar RCM linkage

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Fig. 4

The simplified kinematic model of the linkage

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Fig. 5

The singularity configurations of the RCM mechanism: (a) the singularity configuration when θ11=θ12, (b) the singularity configuration when θ11=π+θ12, and (c) the singularity configuration when θ11=−π+θ12

Grahic Jump Location
Fig. 6

Parallelogram A1A2C12C11 is in singularity configuration

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Fig. 7

Workspace analysis of the RCM linkage

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Fig. 8

The distributions of κ¯ versus γ and λ

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Fig. 9

The distributions of 1/κ under different conditions

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Fig. 10

Prototype design of the proposed mechanism

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Fig. 11

Experimental validation of the proposed mechanism

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