Novel linkage with remote centre of motion

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

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

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 languageEnglish
Title of host publicationThe Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress)
EditorsCheng-Kuo Sung, Jen-Yuan (James) Chang
Place of PublicationTaipei Taiwan
PublisherNational Taiwan University
Pages1 - 6
Number of pages6
ISBN (Electronic)9789860460988
ISBN (Print)9789860460988
DOIs
Publication statusPublished - 2015
EventInternational Federation for the Promotion of Mechanism and Machine Science World Congress 2015 - Taipei international Convention Center, Taipei, Taiwan
Duration: 25 Oct 201530 Oct 2015
Conference number: 14th
http://www.iftomm2015.tw/

Conference

ConferenceInternational Federation for the Promotion of Mechanism and Machine Science World Congress 2015
Abbreviated titleIFToMM 2015
CountryTaiwan
CityTaipei
Period25/10/1530/10/15
Internet address

Cite this

Liu, S., Chen, C., Chen, B., & Harewood, L. M. (2015). Novel linkage with remote centre of motion. In C-K. Sung, & J-Y. J. Chang (Eds.), The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress) (pp. 1 - 6). Taipei Taiwan: National Taiwan University. https://doi.org/10.6567/IFToMM.14TH.WC.OS13.062
Liu, Shao ; Chen, Chao ; Chen, Bernard ; Harewood, Laurence Milner. / Novel linkage with remote centre of motion. The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress). editor / Cheng-Kuo Sung ; Jen-Yuan (James) Chang. Taipei Taiwan : National Taiwan University, 2015. pp. 1 - 6
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title = "Novel linkage with remote centre of motion",
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.",
author = "Shao Liu and Chao Chen and Bernard Chen and Harewood, {Laurence Milner}",
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language = "English",
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Liu, S, Chen, C, Chen, B & Harewood, LM 2015, Novel linkage with remote centre of motion. in C-K Sung & J-YJ Chang (eds), The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress). National Taiwan University, Taipei Taiwan, pp. 1 - 6, International Federation for the Promotion of Mechanism and Machine Science World Congress 2015, Taipei, Taiwan, 25/10/15. https://doi.org/10.6567/IFToMM.14TH.WC.OS13.062

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 proceedingConference PaperResearchpeer-review

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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.

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Liu S, Chen C, Chen B, Harewood LM. Novel linkage with remote centre of motion. In Sung C-K, Chang J-YJ, editors, The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress). Taipei Taiwan: National Taiwan University. 2015. p. 1 - 6 https://doi.org/10.6567/IFToMM.14TH.WC.OS13.062