Title :
Optimization and design of remote center motion mechanism of Minimally Invasive Surgical robotics
Author :
Bo Pan ; YiLi Fu ; GuoJun Niu ; Dianguo Xu
Author_Institution :
State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China
Abstract :
Minimally Invasive Surgery (MIS) has many advantages and is achieved mainly by Remote Center Motion. In this paper, a new RCM mechanism which is triangle is proposed, this mechanism is simple and high stiffness. Optimization incorporating the requirements for MIS are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle2-link manipulator used to guide the surgical tool, the optimization link angles are (74°, 51°). Three-dimensional model design is achieved.
Keywords :
manipulators; medical robotics; surgery; MIS; RCM mechanism; minimally invasive surgical robotics; optimization link angles; remote center motion mechanism design; serial triangle2-link manipulator; surgical tool; three-dimensional model design; Jacobian matrices; Medical robotics; Minimally invasive surgery; Optimization; Service robots;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057509
