A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
Author:
Li Jianmin1, Zhang Guokai2, Müller Andreas3, Wang Shuxin4
Affiliation:
1. e-mail: 2. e-mail: Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China 3. Institute of Mechatronics, Technical University Chemnitz, Chemnitz 09126, Germany e-mail: 4. Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin 300072, China e-mail:
Abstract
If a part of a mechanism is restrained to rotate about a point not physically belonging to it, the mechanism is called a remote center-of-motion (RCM) mechanism. The RCM mechanisms are generally designed especially for robot-assisted minimally invasive surgery (MIS) systems, for which great progress has been made in recent years. An RCM mechanism type synthesis method is proposed in this paper by generalizing the intersection of motion planes. The existence of such motion planes is the fundamental feature of the classic Sarrus mechanism, for instance. The basic principle of the type synthesis method is to combine some typical planar mechanisms where their respective motion planes are free to tilt. Hence, the intersection line varies as the planes tilt. There is one invariant point on this intersection line, however, and this is the RCM point. The proposed method is used to design a class of spatial RCM mechanisms. And the kinematic characteristics of them are presented in this paper. In particular, several fully parallel two degree-of-freedom (DOF) RCM mechanisms and a 1-DOF RCM mechanism are considered in detail. Two spatial 3-DOF overconstrained RCM mechanisms are also obtained by the proposed method.
Publisher
ASME International
Subject
Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials
Reference30 articles.
1. Editorial: Surgical Robotics and Its Development and Progress;Special Issue on Surgical Robotics, System Development, Application Study and Performance Analysis, Robotica,2010 2. Kinematic Design Considerations for Minimally Invasive Surgical Robots: An Overview;Int. J. Med. Rob. Comput. Assist. Surg.,2012 3. Polish Cardio-Robot “RobIn Heart.” System, Description, and Technical Evaluation;Int. J. Med. Rob. Comput. Assist. Surg.,2006 4. Rosen, J., Brown, J. D., Chang, L., Barreca, M., Sinanan, M., and Hannaford, B., 2002, “The BlueDRAGON—A System for Measuring the Kinematics and the Dynamics of Minimally Invasive Surgical Tools In-Vivo,” International Conference on Robotics and Automation, Washington DC, May, pp. 1876–1881. 5. Taylor, R., Jensen, P., Whitcomb, L., Barnes, A., Kumar, R., Stoianovici, D., Gupta, P., Wang, Z. X., deJuan, E., Kavoussi, L., 1999, “A Steady-Hand Robotic System for Microsurgical Augmentation,” Int. J. Robot. Res., 18(12), pp. 1201–1210.10.1177/02783649922067807
Cited by
38 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
|
|