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| Content Provider | The American Society of Mechanical Engineers (ASME) Digital Collection |
|---|---|
| Author | Kuo, Chin-Hsing Jian, S. Dai |
| Copyright Year | 2011 |
| Abstract | In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a critical design challenge for surgical robots. However, although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) RCM mechanism is still highly anticipated. In this paper, a 4-DOF parallel manipulator with a fully decoupled RCM is presented. First, the kinematic structure of the manipulator is described. Then, the fully decoupled motion, i.e., each of the four DOFs of the end-effector can be independently controlled by one corresponding actuated joint, is verified. Further, the inverse kinematics solutions are derived and the reachable workspace of tool tip is analyzed. As a result, the proposed manipulator is a feasible candidate for providing a fully decoupled surgical tool motion for minimally invasive surgery. |
| Sponsorship | Design Engineering Division and Computers and Information in Engineering Division |
| Starting Page | 623 |
| Ending Page | 632 |
| Page Count | 10 |
| File Format | |
| ISBN | 9780791854839 |
| DOI | 10.1115/DETC2011-48053 |
| Volume Number | Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B |
| Conference Proceedings | ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference |
| Language | English |
| Publisher Date | 2011-08-28 |
| Publisher Place | Washington, DC, USA |
| Access Restriction | Subscribed |
| Subject Keyword | Parallel robots Surgical robots Remote center-of-motion Decoupled motion Manipulators Robots Surgery |
| Content Type | Text |
| Resource Type | Article |
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