Design and optimization of a 2-degree-of-freedom planar remote center of motion mechanism for surgical manipulators with smaller footprint
Design and optimization of a 2-degree-of-freedom planar remote center of motion mechanism for surgical manipulators with smaller footprint
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DOI：
10.1016/j.mechmachtheory.2018.07.020
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发表时间：
2018-11-01
影响因子：
5.2
通讯作者：
Matsuno, Fumitoshi
中科院分区：
文献类型：
--
作者：
Nisar, Sajid;Endo, Takahiro;Matsuno, Fumitoshi
本文提出了一种用于微创手术（MIS）机器人操纵器的新型远程运动中心（RCM）机构设计，能够纯粹通过其机构设计提供两个重要的自由度（DoF）——俯仰和平移。所提出的设计的新颖之处在于，与现有最先进的 2-DoF 平面 RCM 机构相比，它的占地面积明显更小。我们描述设计、执行运动学分析并使用仿真来验证其 RCM 功能。该设计还利用可操作性和工具平移进行了优化，以便以所提出的机构的最小尺寸实现最大的运动性能。机构工作空间与所需工作空间之间的比较表明，所提出的设计满足 MIS 工作空间要求。优化结果表明，所提出的设计提供了与现有设计相同的运动性能，但占地面积明显更小。紧凑的远端和更小的占地面积使得所提出的设计非常适合需要多个机械手近距离操作的应用。 (C) 2018 Elsevier Ltd. 保留所有权利。
This paper presents a new remote center of motion (RCM) mechanism design for Minimally Invasive Surgery (MIS) robotic manipulators, capable of providing two important degrees of freedom (DoFs) - pitch and translation - purely through its mechanism design. Novelty of the proposed design is that it offers a significantly smaller footprint compared to the existing state-of-the-art 2-DoF planar RCM mechanisms. We describe the design, perform kinematic analysis, and use simulation to validate its RCM capability. The design is also optimized using manipulability and tool translation to achieve maximum kinematic performance with smallest size of the proposed mechanism. A comparison between the mechanism workspace and the required workspace shows that the proposed design meets the MIS workspace requirements. Optimization results demonstrate that the proposed design offers same kinematic performance as of an exiting design, but with a significantly smaller footprint. Compact distal-end and smaller footprint make the proposed design ideal for applications requiring multiple manipulators to operate in close proximity. (C) 2018 Elsevier Ltd. All rights reserved.