Design and optimization of a 2-degree-of-freedom planar remote center of motion mechanism for surgical manipulators with smaller footprint

Nisar, Sajid; Endo, Takahiro; Matsuno, Fumitoshi

doi:10.1016/j.mechmachtheory.2018.07.020

Cited by 15 publications

(12 citation statements)

References 18 publications

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“…While still containing a downward link, it remains contained within the planar mechanism via the addition of a nested parallelogram, as such preventing it from protruding past the base. In a follow-up work by the same authors, an alternative mechanism was proposed which focussed on reducing the footprint of the planar mechanism [33]. The mechanism combines 19 rigid bodies and a base, relying on a total of 28 rotative and 3 translational DoF.…”

Section: -Dof Planar Rcm Mechanismsmentioning

confidence: 99%

“…This gives rise to the previously mentioned negative aspects such as additional end-effector volume and mass, limited space in the surgical scene, risk of patient contact, etc. At the time of writing, no physical demonstrators have been reported based on [32,33], and a first full-scale prototype said to be under development. Given the larger number of rigid bodies and joints, key performance factors such as friction, play, stiffness and inertia could pose limitations.…”

Section: -Dof Planar Rcm Mechanismsmentioning

confidence: 99%

“…Lou et al reported on an optimal kinematic design of a parallel manipulator aimed at optimizing workspace coverage [36]. Nisar et al described the optimisation of a 2-DoF planar RCM mechanism based on isotropic manipulability [33].…”

Section: Optimal Kinematic Design Of Parallel Manipulatorsmentioning

confidence: 99%

“…Various algorithmic approaches have been reported on in literature, during which a specific performance aspect of a mechanism is optimised such as workspace coverage [36], isotropic manipulability [33], or a combination of both [37]. While these studies identified a kinematic design by optimizing one or several mechanism performance aspects, these did so by reviewing these metrics across the entire workspace.…”

Section: Algorithmmentioning

confidence: 99%

See 3 more Smart Citations

Synthesis and methodology for optimal design of a parallel remote center of motion mechanism: Application to robotic eye surgery

Smits

Reynaerts

Poorten

2020

Mechanism and Machine Theory

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This work reports on the synthesis of a parallel Remote Center of Motion (RCM) mechanism, and an optimized design for the use-case of robot-assisted vitreoretinal surgery. A 2-DoF planar RCM mechanism is proposed and synthesised as part of a 4-DoF RCM mechanism. The proposed design substantially reduces the occupied volume at the end-effector. This solves a major problem present in related state-of-the-art, which poses limitations on sterile end-effector design and surgical instrument compatibility. Subsequently, an optimal design algorithm is proposed and implemented for the given use-case. The workspace is determined within mechanism constraints, after which performance parameters such as workspace coverage, potential energy, manipulability, reflected stiffness are determined for specific areas of interest within a desired workspace. Subsequently, these parameters are combined in a score function identifying an optimal kinematic design. When compared with the closely-related prior art, the resulting design shows improvements in relevant workspace coverage, reduced gravity compensation effort, and more isotropic manipulability. Overall reflected stiffness is reduced and should be taken into account in future design phases. Future work includes the integration of the kinematic design into a detailed conceptual design and a first prototype development.

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Section: -Dof Planar Rcm Mechanismsmentioning

confidence: 99%

Section: -Dof Planar Rcm Mechanismsmentioning

confidence: 99%

Section: Optimal Kinematic Design Of Parallel Manipulatorsmentioning

confidence: 99%

Section: Algorithmmentioning

confidence: 99%

See 2 more Smart Citations

Synthesis and methodology for optimal design of a parallel remote center of motion mechanism: Application to robotic eye surgery

Smits

Reynaerts

Poorten

2020

Mechanism and Machine Theory

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show abstract

“…Gabardi et al [21] conducted kinematics analysis of the 4-UPU fully parallel manipulator to maximize the performance parameters in the design workspace. Sajid Nisar et al [22] proposed a new remote center of motion (RCM) mechanism design for minimally invasive surgery (MIS) robotic manipulators, and optimized and reduced the size of…”

Section: Introductionmentioning

confidence: 99%

Development and Experimental Research of TBM Integrated Cutter System Based on Topological Structure Theory of Planar Mechanism

Meng

Yang

Huo

et al. 2020

Preprint

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Tunnel Boring Machine (TBM) is widely used in tunnel construction due to its advantages of high efficiency and environmental friendliness. The cutters distributed on TBM cutterhead are the main tools of TBM for rock breaking. They are easy to wear and need to be replaced frequently. At present, the replacement of TBM cutters entirely depends on manual work. Manual cutters change not only has a terrible operating environment, but also takes a long time, which leads to a large risk of tunnel construction and a long construction period. However, the traditional cutter system (TCS) is not suitable to use robots for disassembly and assembly because it is composed of many parts. Therefore, developing an integrated cutter system (ICS) suitable for robot operation is of great significance to reduce the cycle and cost of tunnel construction, and to facilitate the risk management of tunnel engineering. In this paper, the theory of the planar mechanism topology structure is applied to the early design process of the ICS, and four types of ICS are obtained. Then this article puts forward the evaluation index of the ICS based on the Analytic Hierarchy Process (AHP), which is used to evaluate the above four ICS solutions to obtains the optimal ICS. Finally, this paper proposes a dead-point anti-loosening structure for the ICS, and performs related experimental verification. The experimental results show that compared with the TCS, the novel ICS has a greatly reduced cutters change action and a significantly improved fastening performance, which can meet the robot cutters change requirements.

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Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

Huang,

Sang,

Liu

et al. 2023

Robotics Computer Surgery

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BackgroundWith the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles.MethodsA multi‐objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator. An inverse kinematic solution method is proposed to meet task accuracy and kinematic singularity avoidance constraints for safety motion control.ResultsSimulation results demonstrate that there are significant improvements in the reachable workspace inside the abdominal cavity, the flexibility of the workspace, kinematic performance, and compactness of the RCM manipulator. Experiments verify the feasibility of the prototype and the validity of the proposed inverse kinematic solution method.ConclusionsThis enhances the adaptability and safety of the RCM manipulator and provides potential prospects for MIS application.

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Design and optimization of a 2-degree-of-freedom planar remote center of motion mechanism for surgical manipulators with smaller footprint

Cited by 15 publications

References 18 publications

Synthesis and methodology for optimal design of a parallel remote center of motion mechanism: Application to robotic eye surgery

Synthesis and methodology for optimal design of a parallel remote center of motion mechanism: Application to robotic eye surgery

Development and Experimental Research of TBM Integrated Cutter System Based on Topological Structure Theory of Planar Mechanism

Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator

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