Abstract
The parallelogram-based remote centre of motion (RCM) structure used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel RCM mechanism is introduced to reduce the size of linkage while leaving the mechanism distal from the remote centre, thus potentially minimise the footprint of the device. In this work the conceptual design of the RCM mechanism is proven mathematically and validated by a prototype. Auxiliary mechanisms are designed to remove singularities.
| Original language | English |
|---|---|
| Title of host publication | The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress) |
| Editors | Cheng-Kuo Sung, Jen-Yuan (James) Chang |
| Place of Publication | Taipei Taiwan |
| Publisher | National Taiwan University |
| Pages | 1 - 6 |
| Number of pages | 6 |
| ISBN (Electronic) | 9789860460988 |
| ISBN (Print) | 9789860460988 |
| DOIs | |
| Publication status | Published - 2015 |
| Event | International Federation for the Promotion of Mechanism and Machine Science World Congress 2015 - Taipei international Convention Center, Taipei, Taiwan Duration: 25 Oct 2015 → 30 Oct 2015 Conference number: 14th http://www.iftomm2015.tw/ |
Conference
| Conference | International Federation for the Promotion of Mechanism and Machine Science World Congress 2015 |
|---|---|
| Abbreviated title | IFToMM 2015 |
| Country | Taiwan |
| City | Taipei |
| Period | 25/10/15 → 30/10/15 |
| Internet address |
Cite this
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Novel linkage with remote centre of motion. / Liu, Shao; Chen, Chao; Chen, Bernard; Harewood, Laurence Milner.
The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress). ed. / Cheng-Kuo Sung; Jen-Yuan (James) Chang. Taipei Taiwan : National Taiwan University, 2015. p. 1 - 6.Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review
TY - GEN
T1 - Novel linkage with remote centre of motion
AU - Liu, Shao
AU - Chen, Chao
AU - Chen, Bernard
AU - Harewood, Laurence Milner
PY - 2015
Y1 - 2015
N2 - The parallelogram-based remote centre of motion (RCM) structure used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel RCM mechanism is introduced to reduce the size of linkage while leaving the mechanism distal from the remote centre, thus potentially minimise the footprint of the device. In this work the conceptual design of the RCM mechanism is proven mathematically and validated by a prototype. Auxiliary mechanisms are designed to remove singularities.
AB - The parallelogram-based remote centre of motion (RCM) structure used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel RCM mechanism is introduced to reduce the size of linkage while leaving the mechanism distal from the remote centre, thus potentially minimise the footprint of the device. In this work the conceptual design of the RCM mechanism is proven mathematically and validated by a prototype. Auxiliary mechanisms are designed to remove singularities.
UR - http://www.scopus.com/inward/record.url?scp=84982138772&partnerID=8YFLogxK
U2 - 10.6567/IFToMM.14TH.WC.OS13.062
DO - 10.6567/IFToMM.14TH.WC.OS13.062
M3 - Conference Paper
SN - 9789860460988
SP - 1
EP - 6
BT - The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress)
A2 - Sung, Cheng-Kuo
A2 - Chang, Jen-Yuan (James)
PB - National Taiwan University
CY - Taipei Taiwan
ER -