Robot-assisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. The remote center-of-motion (RCM) mechanism is one of the main components of a MIS robot. However, the widely used planar RCM mechanism, with double parallelogram structure, requires an active prismatic joint to drive the surgical tool move in–out of the patient’s body cavity, which restricts the dexterity and the back-drivability of the robot to some extent. To solve this problem, a two degree-of-freedom (DOF) planar RCM mechanism type synthesis method is proposed. The basic principle is to construct virtual double parallelogram structure at any instant during the mechanism movements. Different with the existing ones, both of the actuated joints of the obtained RCM mechanism are revolute joints. Combining the proposed mechanism with a revolute joint whose axis passes through the RCM point to drive the whole mechanism out of the plane, the spatial RCM mechanisms to manipulate surgical tool in three-dimension (3D) space can be obtained; and the 3D RCM mechanism can be used for manipulating multi-DOF instruments in a robot-assisted MIS or can be used as an external positioner in robotic single-port surgeries.
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August 2014
Research-Article
A Class of 2-Degree-of-Freedom Planar Remote Center-of-Motion Mechanisms Based on Virtual Parallelograms
Jianmin Li,
Jianmin Li
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: jimmyzhq@gmail.com
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: jimmyzhq@gmail.com
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Guokai Zhang,
Guokai Zhang
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: zhang_gk@tju.edu.cn
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: zhang_gk@tju.edu.cn
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Yuan Xing,
Yuan Xing
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: yuanxing1123@126.com
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: yuanxing1123@126.com
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Hongbin Liu,
Hongbin Liu
Department of Informatics,
King’s College London,
e-mail: hongbin.liu@kcl.ac.uk
King’s College London,
University of London
,Strand, London WC2R 2LS
, UK
e-mail: hongbin.liu@kcl.ac.uk
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Shuxin Wang
Shuxin Wang
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: shuxinw@tju.edu.cn
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: shuxinw@tju.edu.cn
Search for other works by this author on:
Jianmin Li
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: jimmyzhq@gmail.com
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: jimmyzhq@gmail.com
Guokai Zhang
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: zhang_gk@tju.edu.cn
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: zhang_gk@tju.edu.cn
Yuan Xing
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: yuanxing1123@126.com
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: yuanxing1123@126.com
Hongbin Liu
Department of Informatics,
King’s College London,
e-mail: hongbin.liu@kcl.ac.uk
King’s College London,
University of London
,Strand, London WC2R 2LS
, UK
e-mail: hongbin.liu@kcl.ac.uk
Shuxin Wang
Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
e-mail: shuxinw@tju.edu.cn
Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: shuxinw@tju.edu.cn
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 20, 2013; final manuscript received March 16, 2014; published online June 17, 2014. Assoc. Editor: J. M. Selig.
J. Mechanisms Robotics. Aug 2014, 6(3): 031014 (7 pages)
Published Online: June 17, 2014
Article history
Received:
October 20, 2013
Revision Received:
March 16, 2014
Citation
Li, J., Zhang, G., Xing, Y., Liu, H., and Wang, S. (June 17, 2014). "A Class of 2-Degree-of-Freedom Planar Remote Center-of-Motion Mechanisms Based on Virtual Parallelograms." ASME. J. Mechanisms Robotics. August 2014; 6(3): 031014. https://doi.org/10.1115/1.4027239
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