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

doi:10.1109/ROBIO.2014.7090333

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 proceeding › Conference article published in proceeding or book › Academic research › peer-review

13 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 language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	IEEE
Pages	217-222
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090333
Publication status	Published - 20 Apr 2014
Externally published	Yes
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Padma Resort Bali at Legian, Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

ASJC Scopus subject areas

Biotechnology
Artificial Intelligence
Human-Computer Interaction

More information

10.1109/ROBIO.2014.7090333

Cite this

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title = "A new circular-guided remote center of motion mechanism for assistive surgical robots",

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.",

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doi = "10.1109/ROBIO.2014.7090333",

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Yip, HM, Li, P, Navarro Alarcon, D, Wang, Z & Liu, YH 2014, A new circular-guided remote center of motion mechanism for assistive surgical robots. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090333, IEEE, pp. 217-222, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090333

A new circular-guided remote center of motion mechanism for assistive surgical robots. / Yip, Hiu Man; Li, Peng; Navarro Alarcon, David et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. IEEE, 2014. p. 217-222 7090333.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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

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