A skeletal prototype of surgical arm based on dual-triangular mechanism

Shao Tong Liu, Laurence Milner Harewood, Bernard Chen, Chao Chen

Research output: Contribution to journalArticleResearchpeer-review

Abstract

The parallelogram-based remote center of motion (RCM) mechanism used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between the robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel mechanism with RCM, dual-triangular linkage (DT-linkage), is introduced to reduce the occupied space by the linkage while keeping sufficient space around the incision. Hence, the chance of collisions among arms and tools can be reduced. The concept of this dual-triangular linkage is proven mathematically and validated by a prototype. Auxiliary mechanisms are introduced to remove the singularity at the fully folded configuration. The characterized footprints of this new linkage and the one based on parallelograms are analyzed and compared.
Original languageEnglish
Pages (from-to)1 - 7
Number of pages7
JournalJournal of Mechanisms and Robotics
Volume8
Issue number4
DOIs
Publication statusPublished - 2016

Cite this

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title = "A skeletal prototype of surgical arm based on dual-triangular mechanism",
abstract = "The parallelogram-based remote center of motion (RCM) mechanism used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between the robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel mechanism with RCM, dual-triangular linkage (DT-linkage), is introduced to reduce the occupied space by the linkage while keeping sufficient space around the incision. Hence, the chance of collisions among arms and tools can be reduced. The concept of this dual-triangular linkage is proven mathematically and validated by a prototype. Auxiliary mechanisms are introduced to remove the singularity at the fully folded configuration. The characterized footprints of this new linkage and the one based on parallelograms are analyzed and compared.",
author = "Liu, {Shao Tong} and Harewood, {Laurence Milner} and Bernard Chen and Chao Chen",
year = "2016",
doi = "10.1115/1.4032976",
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A skeletal prototype of surgical arm based on dual-triangular mechanism. / Liu, Shao Tong; Harewood, Laurence Milner; Chen, Bernard; Chen, Chao.

In: Journal of Mechanisms and Robotics, Vol. 8, No. 4, 2016, p. 1 - 7.

Research output: Contribution to journalArticleResearchpeer-review

TY - JOUR

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AU - Harewood, Laurence Milner

AU - Chen, Bernard

AU - Chen, Chao

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AB - The parallelogram-based remote center of motion (RCM) mechanism used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between the robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel mechanism with RCM, dual-triangular linkage (DT-linkage), is introduced to reduce the occupied space by the linkage while keeping sufficient space around the incision. Hence, the chance of collisions among arms and tools can be reduced. The concept of this dual-triangular linkage is proven mathematically and validated by a prototype. Auxiliary mechanisms are introduced to remove the singularity at the fully folded configuration. The characterized footprints of this new linkage and the one based on parallelograms are analyzed and compared.

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DO - 10.1115/1.4032976

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