Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications

Yaşır, Abdullah; Kiper, Gökhan; Dede, Mehmet İsmet Can

doi:10.1016/j.mechmachtheory.2020.104013

Cited by 24 publications

(14 citation statements)

References 9 publications

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“…The rotary actuators on the side legs have fixed axes on the base and actuate the first R axes of the U joints. The side leg actuators change the angle of The components of the 2URRR-URR parallel manipulator [10].…”

Section: Description Of the System And The Need Of Static Balancingmentioning

confidence: 99%

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Gravity compensation of a 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications

et al. 2022

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This work addresses the gravity balancing of a 2R1T (2 rotations – 1 translation) mechanism with remote center of motion. A previously developed balancing solution is modified and applied to a prototype, and test results are presented. The mechanism is an endoscope holder for minimally invasive transnasal pituitary gland surgery. In this surgery, the endoscope is inserted through a nostril of the patient through a natural path to the pituitary gland. During the surgery, it is vital for the manipulator to be statically balanced so that in case of a motor failure, the patient is protected against any harmful motion of the endoscope. Additionally, static balancing takes the gravitational load from the actuators and hence facilitates the control of the mechanism. The mechanism is a 2URRR-URR type parallel manipulator with three legs. The payload mass is distributed to the legs on the sides. By using counter-masses for two links of each leg, the center of mass of each leg is lumped on the proximal link which simplifies the problem of balancing of a two degree-of-freedom inverted pendulum. The two proximal links with the lumped mass are statically balanced via springs. Dynamic simulations indicate that when the mechanism is statically balanced, generated actuator torques are reduced by 93.5%. Finally, the balancing solution is implemented on the prototype of the manipulator. The tests indicate that the manipulator is statically balanced within its task space when the actuators are disconnected. When the actuators are connected, the torque requirements decrease by about 37.8% with balancing.

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Section: Description Of the System And The Need Of Static Balancingmentioning

confidence: 99%

“…The 2URRR-URR parallel manipulator is designed as an endoscope holder for minimally invasive transnasal pituitary gland surgery application by ref. [10]. In this work, the balancing solution of ref.…”

Section: Introductionmentioning

confidence: 99%

Gravity compensation of a 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications

et al. 2022

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“…All of the dimensions have been designed to cope with this surgical workspace, as can be seen in the literature. 26 The mechanism consists of three legs, as shown in Figure 4. Each i'th leg has the links of length a i , b i , and c i connected by revolute joints.…”

Section: Brief Description Of the Surgical Robot's Kinematicsmentioning

confidence: 99%

Partial gravity compensation of a surgical robot

Maaroof

Saeed

Dede

2021

International Journal of Advanced Robotic Systems

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Surgical robots are safety-critical devices that require multiple domains of safety features. This article focuses on the passive gravity compensation design optimization of a surgical robot. The limits of this optimization are related with the safety features including minimization of the total moving mass/inertia and compactness of the design. The particle swarm optimization method is used as a novel approach for the optimization of a parallel remote-center-of-motion mechanism. A compact design is achieved by partially balancing the mechanism, which also decreases the torque requirements from the actuators.

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“…These three motions are sufficient for endoscope movements (Tanigucci et al, 2010). The kinematic and constructional design of the manipulator is described in (Yaşır, 2018). The URR leg is the middle leg while the two URRR legs are the side legs.…”

Section: Introductionmentioning

confidence: 99%

Static Force Balancing of a 2R1T Parallel Manipulator with Remote Center of Motion

Yaşır

Kiper

Dede

et al. 2019

Advances in Mechanism and Machine Science

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Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope navigation robot for transnasal minimal invasive surgery applications. The manipulator has a rather simple structure that allows individual balancing of the three legs in their respective planes of motion. First, sole counter-mass balancing is investigated, but it is seen that the extra mass amount is too much. Sole spring balancing is not considered as an option due to constructional complexity. A hybrid solution as a combination of counter-mass and spring balancing is devised. In the proposed solution, the masses on the distal links of a leg are balanced with counter-masses so that all masses are lumped to the link connected to the base of the manipulator. Hence the problem is simplified into the balancing of a pendulum. The necessary formulations are derived and numerical calculations demonstrate that the hybrid balancing yields a feasible solution.

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Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications

Cited by 24 publications

References 9 publications

Gravity compensation of a 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications

Gravity compensation of a 2R1T mechanism with remote center of motion for minimally invasive transnasal surgery applications

Partial gravity compensation of a surgical robot

Static Force Balancing of a 2R1T Parallel Manipulator with Remote Center of Motion

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