Abstract
In minimally invasive surgery applications, the use of robotic manipulators is becoming more and more common to enhance the precision of the operations and post-operative processes. Such operations are often performed through an incision port (a pivot point) on the patient's body. Since the end-effector (the handled surgical tool) move about the pivot point, the manipulator has to move about a remote center of motion. In this study, a 3-degrees-of-freedom parallel mechanism with 2R1T (R: rotation, T: translation) remote center of motion capability is presented for minimally invasive surgery applications. First, its kinematic structure is introduced. Then, its kinematic analysis is carried out by using a simplified kinematic model which consists of three intersecting planes. Then the dimensional design is done for the desired workspace and a simulation test is carried out to verify the kinematic formulations. Finally, the prototype of the final design is presented.
Original language | English |
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Article number | 104013 |
Number of pages | 17 |
Journal | Mechanism and Machine Theory |
Volume | 153 |
DOIs | |
Publication status | Published - 2020 |
Bibliographical note
Accepted Author Manuscript+ Corrigendum https://doi.org/10.1016/j.mechmachtheory.2021.104514
Keywords
- 2R1T mechanism
- Parallel manipulator
- Remote center of motion
- Surgical robotics