The parallelogram-based remote center of motion (RCM) mechanism used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between the robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel mechanism with RCM, dual-triangular linkage (DT-linkage), is introduced to reduce the occupied space by the linkage while keeping sufficient space around the incision. Hence, the chance of collisions among arms and tools can be reduced. The concept of this dual-triangular linkage is proven mathematically and validated by a prototype. Auxiliary mechanisms are introduced to remove the singularity at the fully folded configuration. The characterized footprints of this new linkage and the one based on parallelograms are analyzed and compared.
Skip Nav Destination
Article navigation
August 2016
Research-Article
A Skeletal Prototype of Surgical Arm Based on Dual-Triangular Mechanism
Shao T. Liu,
Shao T. Liu
Laboratory of Motion Generation and Analysis,
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: shao.liu@monash.edu
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: shao.liu@monash.edu
Search for other works by this author on:
Laurence Harewood,
Laurence Harewood
Epworth Freemansons Medical Center,
East Melbourne, Victoria 3002, Australia
e-mail: laurenceharewood@urologyvictoria.com
East Melbourne, Victoria 3002, Australia
e-mail: laurenceharewood@urologyvictoria.com
Search for other works by this author on:
Bernard Chen,
Bernard Chen
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: bernard.chen@monash.edu
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: bernard.chen@monash.edu
Search for other works by this author on:
Chao Chen
Chao Chen
Laboratory of Motion Generation and Analysis,
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: chao.chen@monash.edu
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: chao.chen@monash.edu
Search for other works by this author on:
Shao T. Liu
Laboratory of Motion Generation and Analysis,
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: shao.liu@monash.edu
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: shao.liu@monash.edu
Laurence Harewood
Epworth Freemansons Medical Center,
East Melbourne, Victoria 3002, Australia
e-mail: laurenceharewood@urologyvictoria.com
East Melbourne, Victoria 3002, Australia
e-mail: laurenceharewood@urologyvictoria.com
Bernard Chen
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: bernard.chen@monash.edu
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: bernard.chen@monash.edu
Chao Chen
Laboratory of Motion Generation and Analysis,
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: chao.chen@monash.edu
Department of Mechanical and
Aerospace Engineering,
Monash University,
Victoria 3800, Australia
e-mail: chao.chen@monash.edu
Manuscript received September 21, 2015; final manuscript received March 3, 2016; published online March 29, 2016. Assoc. Editor: Byung-Ju Yi.
J. Mechanisms Robotics. Aug 2016, 8(4): 041015 (7 pages)
Published Online: March 29, 2016
Article history
Received:
September 21, 2015
Revised:
March 3, 2016
Citation
Liu, S. T., Harewood, L., Chen, B., and Chen, C. (March 29, 2016). "A Skeletal Prototype of Surgical Arm Based on Dual-Triangular Mechanism." ASME. J. Mechanisms Robotics. August 2016; 8(4): 041015. https://doi.org/10.1115/1.4032976
Download citation file:
Get Email Alerts
Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms
J. Mechanisms Robotics (August 2024)
Advancing Legged Wall Climbing Robot Performance Through Dynamic Contact-Integrated Climbing Model
J. Mechanisms Robotics (June 2024)
Related Articles
Design Optimization of Single-Port Minimally Invasive Intervention Devices
J. Med. Devices (June,2009)
Design, Dimensional Synthesis and Evaluation of a Novel Two-Degrees-of-Freedom Spherical Remote Center of Motion Mechanism for Minimally Invasive Surgery
J. Mechanisms Robotics (May,2024)
A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability
J. Med. Devices (September,2008)
FlexDex ™ : A Minimally Invasive Surgical Tool With Enhanced Dexterity and Intuitive Control
J. Med. Devices (September,2010)
Related Proceedings Papers
Related Chapters
Novel Analytical Model of Flux Linkage for Switched Reluctance Motor
International Conference on Advanced Computer Theory and Engineering, 5th (ICACTE 2012)
Linkage Learning by Block Mining in Genetic Algorithm for Permutation Flow-Shop Scheduling Problems
International Conference on Computer Engineering and Technology, 3rd (ICCET 2011)
Research on the Dimensions of the Multi-fingered Robotic Hand Based on Underactuated Linkage Mechanism
International Conference on Control Engineering and Mechanical Design (CEMD 2017)