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 |
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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 |
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Abbreviated title | IFToMM 2015 |
Country | Taiwan |
City | Taipei |
Period | 25/10/15 → 30/10/15 |
Internet address |