Design Innovation Paper

A New Type of Planar Two Degree-of-Freedom Remote Center-of-Motion Mechanism Inspired by the Peaucellier–Lipkin Straight-Line Linkage

[+] Author and Article Information
Genliang Chen, Jiepeng Wang, Hao Wang

State Key Laboratory of Mechanical System and Vibration,
Shanghai Key Laboratory of Digital Manufacture
for Thin-Walled Structures,
Shanghai Jiao Tong University,
Shanghai 200240, China

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received March 9, 2018; final manuscript received August 9, 2018; published online October 8, 2018. Assoc. Editor: Massimo Callegari.

J. Mech. Des 141(1), 015001 (Oct 08, 2018) (9 pages) Paper No: MD-18-1203; doi: 10.1115/1.4041221 History: Received March 09, 2018; Revised August 09, 2018

Benefiting from small incisions, reduced risk of infection, less pain, and fast recovery, minimally invasive surgery has shown tremendous advantages for patients. In these kinds of procedures, remote center-of-motion (RCM) mechanisms play an important role in performing operations through small incisions. Inspired by the Peaucellier–Lipkin straight-line cell, this paper presents the design and verification of a new type of planar two degree-of-freedom (DOF) RCM mechanism. A synthesized planar RCM mechanism is realized by a symmetric linkage actuated by two circular motion generators. The main merit of the proposed 2DOF RCM mechanism is its straightforward kinematics, which results in a simple control scheme. One of the candidate mechanisms, which is simple in structure and easy to fabricate, is intensively investigated. A prototype was built, on which preliminary experiments have been conducted, to verify the feasibility of the proposed new mechanism. The experimental results show that the fabricated 2DOF prototype has a nearly stationary remote center of motion. Therefore, the prototype has potential applicability in robot-assisted minimally invasive surgeries.

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Fig. 1

One-DOF RCM linkage with double-parallelogram structure

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Fig. 2

Evolution of the Peaucellier–Lipkin straight-line linkage to a planar 2DOF RCM mechanism

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Fig. 3

Alternatives to VCM generators and symmetric linkages

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Fig. 4

Planar 2DOF RCM mechanisms with different combinations of VCM generators and symmetric linkages

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Fig. 5

Kinematics of the proposed RCM mechanism

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Fig. 6

Limited radial positions of the mechanism's end-effector

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Fig. 7

Reachable workspace of the mechanism's tip point

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Fig. 8

Singularity and dexterous workspace of the mechanism

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Fig. 9

CAD model and prototype of the studied RCM mechanism

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Fig. 10

Workspace verification of the developed planar 2DOF RCM prototype

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Fig. 11

Experimental setup of the developed prototype

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Fig. 12

Measured configurations of the end-effector

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Fig. 13

Accuracy evaluation of the developed prototype in the measured configurations: (a) misalignment of the end-effector with respect to the mechanism's nominal RCM point, (b) angular deviation of the end-effector's actual orientations from nominal, and (c) translational inaccuracy along the axial direction of the mechanism's end-effector



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