Title :
Design and kinematic analysis of a parallel robot with Remote Center of Motion for Minimally Invasive Surgery
Author :
Zhenchuan Zhang ; Hongjian Yu ; Zhijiang Du
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
A Remote Center of Motion (RCM) Robot can imitate medical operative of surgeons in Minimally Invasive Surgery (MIS) and improve surgical precision. Compared to serial robots, parallel robots are more compact, more isotropic and have better rigidity and accuracy. A design of a new type of RCM parallel robot is proposed in this paper, which including the robot mechanical structure, kinematics and optimization design. The workspace of the mechanism is derived from the inverse kinematics. The global performance index (GPI) is used as the performance evaluation index to optimize the structure design by the algorithm of Particle Swarm Optimization (PSO). The results of the paper are used to analysis the performance of robot to confirm the structure design, and prepare for prototype machining.
Keywords :
control system synthesis; medical robotics; particle swarm optimisation; performance index; robot kinematics; surgery; PSO; RCM parallel robot design; global performance index; inverse kinematics; minimally invasive surgery; parallel robot kinematic analysis; particle swarm optimization; performance evaluation index; remote center of motion; robot optimization design; Instruments; Joints; Kinematics; Lead; Mobile communication; Robots; Surgery; kinematics; optimization; parallel robot; remote center of motion; workspace;
Conference_Titel :
Mechatronics and Automation (ICMA), 2015 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-7097-1
DOI :
10.1109/ICMA.2015.7237570
