A new circular-guided remote center of motion mechanism for assistive surgical robots

Hiu Man Yip, Peng Li, David Navarro Alarcon, Zerui Wang, Yun Hui Liu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

7 Citations (Scopus)

Abstract

Remote center of motion (RCM) mechanisms are widely used in surgical robots to mechanically constrain the position of a certain point in the operation space. Examples of well-known RCM mechanisms include parallelogram mechanisms, spherical linkages, circular guiding arcs, etc. In this paper, a reinforced circular-guided RCM mechanism is presented. In the mechanism, a closed-looped circular-guiding arc instead of an open-looped one is used to improve rigidity. In addition, with this linearly-actuated RCM mechanism, we can avoid moving the actuator along with its link. This provides an alternative to the use of tendon-driven mechanisms. The proposed mechanism is then further extended to a 3-degree-of-freedom (DOF) configuration for surgical robots. In contrast to most applications where the RCM is designed to be placed out of the patient's body, our new RCM is designed to be placed inside body, which is more preferable in some applications, for example, uterus positioning during laparoscopic hysterectomy. In this paper, the design, dynamic model, static analysis and the extended application of the linearly-actuated-arc-guided RCM mechanism is presented. A prototype is built to validate the feasibility of the mechanism and experiments are conducted.
Original languageEnglish
Title of host publication2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
PublisherIEEE
Pages217-222
Number of pages6
ISBN (Electronic)9781479973965
DOIs
Publication statusPublished - 20 Apr 2014
Externally publishedYes
Event2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Padma Resort Bali at Legian, Bali, Indonesia
Duration: 5 Dec 201410 Dec 2014

Conference

Conference2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/TerritoryIndonesia
CityBali
Period5/12/1410/12/14

ASJC Scopus subject areas

  • Biotechnology
  • Artificial Intelligence
  • Human-Computer Interaction

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