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Technical Brief

Kinematic Design of a Novel Two Degree-of-Freedom Parallel Mechanism for Minimally Invasive Surgery

[+] Author and Article Information
Wen-ao Cao

School of Mechanical Engineering and Electronic Information,
University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China;
Jiangsu Key Laboratory of Advanced Manufacturing Technology,
Huaiyin Institute of Technology,
No. 1 Meicheng Road,
Huaiyin 223003, China
e-mail: cwao1986@163.com

Shi-jie Xu

School of Mechanical Engineering and Electronic Information,
University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: xsj930307@163.com

Kun Rao

School of Mechanical Engineering and Electronic Information,
University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: Raokun321@163.com

Tengfei Ding

School of Mechanical Engineering and Electronic Information,
University of Geosciences (Wuhan),
No. 388 Lumo Road,
Wuhan 430074, China
e-mail: cugdingtf2013@126.com

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the Journal of Mechanical Design. Manuscript received May 17, 2018; final manuscript received April 14, 2019; published online May 23, 2019. Assoc. Editor: Joo H. Kim.

J. Mech. Des 141(10), 104501 (May 23, 2019) (7 pages) Paper No: MD-18-1376; doi: 10.1115/1.4043583 History: Received May 17, 2018; Accepted April 20, 2019

A novel two degree-of-freedom (2-DOF) parallel mechanism with remote center-of-motion (RCM) is proposed for minimally invasive surgical applications in this paper. A surgical manipulator with expected three-rotation and one-translation (3R1T) outputs can be obtained by serially connecting a revolute pair (R) and a prismatic pair (P) to the mechanism. First, kinematics of the new mechanism is analyzed and the corresponding velocity Jacobin matrix is established. Then, singularity identification of the mechanism is performed based on screw theory. Further, main dimensions of the mechanism are designed, and a physical prototype is developed to verify the effectiveness of executing RCM. The proposed mechanism has relatively simple kinematics, and can obtain a noninterference and nonsingularity cone workspace with the top angle of 60 deg based on a compact structure.

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Figures

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Fig. 1

The new RCM mechanism: (a) 2-DOF parallel mechanism and (b) 3R1T RCM mechanism

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Fig. 2

Actuation angles of the mechanism: (a) actuation angle θ11 and (b) actuation angle θ21

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Fig. 4

Desired cone workspace

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Fig. 5

Distributions of γ2 and η: (a) the variation of γ2 versus β1 and β2, (b) the distribution of γ2 meeting the given range, and (c) the distribution of η under the ranges of β1, β2 and γ2

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Fig. 6

The prototype of 3R1T RCM surgical robot: (a) the virtual prototype and (b) the physical prototype

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Fig. 7

Four typical configurations of the physical prototype

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Fig. 8

Three groups of actuation angles

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Fig. 9

Theoretical trajectories and experimental trajectories

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