Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

Author:

Huang Fang1,Sang Hongqiang12ORCID,Liu Fen1,Han Rui1

Affiliation:

1. School of Mechanical Engineering Tiangong University Tianjin China

2. Tianjin Key Laboratory of Advanced Mechatronic Equipment Technology Tiangong University Tianjin China

Abstract

AbstractBackgroundWith the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles.MethodsA multi‐objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator. An inverse kinematic solution method is proposed to meet task accuracy and kinematic singularity avoidance constraints for safety motion control.ResultsSimulation results demonstrate that there are significant improvements in the reachable workspace inside the abdominal cavity, the flexibility of the workspace, kinematic performance, and compactness of the RCM manipulator. Experiments verify the feasibility of the prototype and the validity of the proposed inverse kinematic solution method.ConclusionsThis enhances the adaptability and safety of the RCM manipulator and provides potential prospects for MIS application.

Funder

National Natural Science Foundation of China

Publisher

Wiley

Subject

Computer Science Applications,Biophysics,Surgery

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