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A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems
, Article International Journal of Medical Robotics and Computer Assisted Surgery ; Vol. 10, Issue. 2 , Jun , 2014 , pp. 129-139 ; ISSN: 14785951 ; Mirbagheri, A ; Behzadipour, S ; Farahmand, F ; Sharif University of Technology
Abstract
Background: An effective master robot for haptic tele-surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. Method: A novel 4+1-DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. Results: With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand-inside surgery with minimal moving inertia. The...