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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March 2015
Research-Article
Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
Jianmin Li,
Jianmin Li
Key Lab for Mechanism Theory
and Equipment Design of Ministry of Education,
e-mail: jimmyzhq@gmail.com
and Equipment Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: jimmyzhq@gmail.com
Search for other works by this author on:
Yuan Xing,
Yuan Xing
Key Lab for Mechanism Theory
and Equipment Design of Ministry of Education,
e-mail: yuanxing1123@126.com
and Equipment Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: yuanxing1123@126.com
Search for other works by this author on:
Ke Liang,
Ke Liang
Key Lab for Mechanism Theory
and Equipment Design of Ministry of Education,
e-mail: lkchina1984@sina.com
and Equipment Design of Ministry of Education,
Tianjin University
,Tianjin 300072
, China
e-mail: lkchina1984@sina.com
Search for other works by this author on:
Shuxin Wang
Shuxin Wang
Key Lab for Mechanism Theory
and Equipment Design of Ministry of Education,
e-mail: shuxinw@tju.edu.cn
and Equipment 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
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,
e-mail: yuanxing1123@126.com
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,
e-mail: lkchina1984@sina.com
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,
e-mail: shuxinw@tju.edu.cn
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. Mar 2015, 9(1): 011003 (8 pages)
Published Online: March 1, 2015
Article history
Received:
March 20, 2014
Revision Received:
September 16, 2014
Online:
November 14, 2014
Citation
Li, J., Xing, Y., Liang, K., and Wang, S. (March 1, 2015). "Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot." ASME. J. Med. Devices. March 2015; 9(1): 011003. https://doi.org/10.1115/1.4028651
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