Novel linkage with remote centre of motion

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

doi:10.6567/IFToMM.14TH.WC.OS13.062

Novel linkage with remote centre of motion

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

Mechanical & Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Paper › Research › peer-review

1 Citation (Scopus)

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	https://doi.org/10.6567/IFToMM.14TH.WC.OS13.062
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/Territory	Taiwan
City	Taipei
Period	25/10/15 → 30/10/15
Internet address	http://www.iftomm2015.tw/

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10.6567/IFToMM.14TH.WC.OS13.062

Cite this

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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}",

year = "2015",

doi = "10.6567/IFToMM.14TH.WC.OS13.062",

language = "English",

isbn = "9789860460988",

pages = "1 -- 6",

editor = "Cheng-Kuo Sung and Chang, {Jen-Yuan (James)}",

booktitle = "The Fourteenth International Federation for the Promotion of Mechanism and Machine Science World Congress (2015 IFToMM World Congress)",

publisher = "National Taiwan University",

note = "International Federation for the Promotion of Mechanism and Machine Science World Congress 2015, IFToMM 2015 ; Conference date: 25-10-2015 Through 30-10-2015",

url = "http://www.iftomm2015.tw/",

}

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 proceeding › Conference Paper › Research › peer-review

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T1 - Novel linkage with remote centre of motion

AU - Liu, Shao

AU - Chen, Chao

AU - Chen, Bernard

AU - Harewood, Laurence Milner

N1 - Conference code: 14th

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.

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DO - 10.6567/IFToMM.14TH.WC.OS13.062

M3 - Conference Paper

SN - 9789860460988

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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

T2 - International Federation for the Promotion of Mechanism and Machine Science World Congress 2015

Y2 - 25 October 2015 through 30 October 2015

ER -

Novel linkage with remote centre of motion

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