Research Papers

A Class of 2-Degree-of-Freedom Planar Remote Center-of-Motion Mechanisms Based on Virtual Parallelograms

[+] Author and Article Information
Jianmin Li

Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: jimmyzhq@gmail.com

Guokai Zhang

Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: zhang_gk@tju.edu.cn

Yuan Xing

Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: yuanxing1123@126.com

Hongbin Liu

Department of Informatics,
King’s College London,
University of London,
Strand, London WC2R 2LS, UK
e-mail: hongbin.liu@kcl.ac.uk

Shuxin Wang

Key Lab for Mechanism Theory and Equipment
Design of Ministry of Education,
Tianjin University,
Tianjin 300072, China
e-mail: shuxinw@tju.edu.cn

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received October 20, 2013; final manuscript received March 16, 2014; published online June 17, 2014. Assoc. Editor: J. M. Selig.

J. Mechanisms Robotics 6(3), 031014 (Jun 17, 2014) (7 pages) Paper No: JMR-13-1211; doi: 10.1115/1.4027239 History: Received October 20, 2013; Revised March 16, 2014

Robot-assisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. The remote center-of-motion (RCM) mechanism is one of the main components of a MIS robot. However, the widely used planar RCM mechanism, with double parallelogram structure, requires an active prismatic joint to drive the surgical tool move in–out of the patient’s body cavity, which restricts the dexterity and the back-drivability of the robot to some extent. To solve this problem, a two degree-of-freedom (DOF) planar RCM mechanism type synthesis method is proposed. The basic principle is to construct virtual double parallelogram structure at any instant during the mechanism movements. Different with the existing ones, both of the actuated joints of the obtained RCM mechanism are revolute joints. Combining the proposed mechanism with a revolute joint whose axis passes through the RCM point to drive the whole mechanism out of the plane, the spatial RCM mechanisms to manipulate surgical tool in three-dimension (3D) space can be obtained; and the 3D RCM mechanism can be used for manipulating multi-DOF instruments in a robot-assisted MIS or can be used as an external positioner in robotic single-port surgeries.

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Grahic Jump Location
Fig. 1

DOF constraints of MIS at the incision point

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Fig. 2

The double parallelogram mechanism and its deformations

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Fig. 3

The RCM mechanism based on virtual parallelogram

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Fig. 4

2-DOF planar mechanism Diamond with purely translational capability

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Fig. 5

The simplified model of the mechanism based on the proposed method

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Fig. 6

The kinematic model of the driven loops of the mechanism

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Fig. 7

The obtained 2-DOF RCM mechanisms under the condition that l1=l2

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Fig. 8

The RCM mechanism with BiC2 parallel with the AiC1

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Fig. 9

The obtained 2-DOF RCM mechanisms under the condition that l1≠l2

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Fig. 10

An example condition to make the mechanism be RCM mechanism

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Fig. 11

The serial deformation of the driven loops

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Fig. 12

The serial deformation of the proposed RCM mechanisms




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