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Design Innovation Paper

A New Type of Planar 2-DOF Remote Center-of-Motion Mechanisms Inspired by the Peaucellier-Lipkin Straight-line Linkage

[+] Author and Article Information
Genliang Chen

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
leungchan@sjtu.edu.cn

Jiepeng 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
wangjiepeng@sjtu.edu.cn

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
wanghao@sjtu.edu.cn

1Corresponding author.

ASME doi:10.1115/1.4041221 History: Received March 09, 2018; Revised August 09, 2018

Abstract

Benefiting from small incisions, reduced infection risks, less pain and fast recovery, minimally invasive surgery has shown tremendous advantages for patients. In such kinds of procedures, the remote center-of-motion (RCM) mechanisms play an important role in performing operation 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 mechanisms. The synthesized planar RCM mechanisms are realized by symmetric linkages actuated by two virtual center-of-motion (VCM) generators. The main merit of the proposed 2-DOF RCM mechanisms is the easiness in kinematics which results in a simple control theme. One of the candidate mechanisms, which is simple in structure and easy to fabricate, is intensively studied. A prototype was built, on which preliminary experiments have been conducted, to verify the feasibility of the proposed new design. And the experimental results show that, the kinematics of the fabricated 2-DOF prototype possesses relatively high RCM characteristics. Therefore, it is potentially applicable in robot-assisted minimally invasive surgeries.

Copyright (c) 2018 by ASME
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