Kinematic design considerations for minimally invasive surgical robots: an overview

Abstract

This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community.

Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator

“…An analysis of the results of research conducted by various scientific centers in Poland and around the world [1][2][3][4][5][6][7] shows that designs of spherical telemanipulators, with a parallelogram manipulation mechanism making it possible to meet the kinematic RCM condition, can be presented in a classification as in Fig.1.…”

“…The author of this paper used a modification of the design in example b) to design an original arm of a surgical telemanipulator [5]. The design of the mechanism presented in Fig.1c corresponds to [6]. The examples presented in Fig.1d and Fig.1e correspond to designs used in modifications of the Polish RobInHeart cardiac surgery robot [1][2][3].…”

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

“…One dominant reason that surgical robots can effectively improve surgical precision and enhance safety confidence is due to its ingenious kinematic design [1]. In an MIS operation, the surgical instrument is guided to perform a four degrees-of-freedom (DOF) of motion including three rotational DOFs and one translational DOF (i.e., a 3R1T motion where "R" denotes the rotational DOF and "T" the translational DOF).…”

“…Therefore, a tailor-made mechanism, namely the remote center-of-motion (RCM) mechanism [2] was exclusively devised for guiding the instrument to illustrate such a special motion via its inherent kinematic constraints. Further, it has been suggested [1][2][3] that a fully decoupled RCM, i.e., each of these four surgical DOFs can be respectively independently controlled by one actuation unit, could help the mechanism simplify the control of coordinated joints and permit manual positioning of surgical instrument during operation. However, although there have been many different RCM mechanisms [3][4][5] proposed for MIS tasks, a fully decoupled RCM design is still an unsolved secret in both communities of surgical robotics and mechanism and machine science.…”

Kinematics Modeling and Simulating of a New Surgical Robot

“…Paisley et al provided the forward and inverse kinematics solution for a parallel surgical robot with five degrees of freedom (PARAMIS) using geometrical model [6]. Kuo et al reviewed the general kinematics design requirements for MIS robots and studied the remote centerof-motion (RCM) mechanism types [7]. Jin et al defined the forward kinematics and the inverse kinematics for a Pedicle Screws Surgical Robot (PSSR) using the D-H notation [8].…”