A novel remote center of motion mechanism for the force-reflective master robot of haptic tele-surgery systems

Hadavand, M ; Sharif University of Technology

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  1. Type of Document: Article
  2. DOI: 10.1002/rcs.1515
  3. Abstract:
  4. 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 target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints. Conclusions: The proposed mechanism meets the basic requirements of an effective master robot for haptic tele-surgery applications
  5. Keywords:
  6. Fulcrum effect ; Kinematics analysis ; Moving inertia ; Parallelogram mechanism ; Trajectory tracking ; Cost effectiveness analysis ; Endoscopic surgery ; Experimental test ; kinematics ; Minimally invasive surgery ; Motion analysis system ; Remote center of motion ; Robotics ; Tactile stimulation ; Telesurgery
  7. Source: International Journal of Medical Robotics and Computer Assisted Surgery ; Vol. 10, Issue. 2 , Jun , 2014 , pp. 129-139 ; ISSN: 14785951
  8. URL: http://onlinelibrary.wiley.com/doi/10.1002/rcs.1515/abstract