Minimally invasive surgery (MIS) requires four degrees-of-freedom (DOFs) (pitch, translation, yaw, and roll) at the incision point, but the widely used planar remote center of motion (RCM) mechanisms only provide one degree-of-freedom. The remaining three DOFs are achieved through external means (such as cable-pulleys or actuators mounted directly on the distal-end) which adversely affect the performance and design complexity of a surgical manipulator. This paper presents a new RCM mechanism which provides the two most important DOFs (pitch and translation) by virtue of its mechanical design. Kinematics of the new mechanism is developed and its singularities are analyzed. To achieve maximum performance in the desired workspace region, an optimal configuration is also evaluated. The design is optimized to yield maximum manipulability and tool translation with smallest size of the mechanism. Unlike the traditional planar RCM mechanisms, the proposed design does not rely on external means to achieve translation DOF, and therefore, offers potential advantages. The mechanism can be a suitable choice for surgical applications demanding a compact distal-end or requiring multiple manipulators to operate in close proximity.
Skip Nav Destination
Article navigation
June 2017
Research-Article
Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators
Sajid Nisar,
Sajid Nisar
Mechatronics Laboratory,
Mechanical Engineering and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: nisar.sajid.78v@kyoto-u.jp
Mechanical Engineering and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: nisar.sajid.78v@kyoto-u.jp
Search for other works by this author on:
Takahiro Endo,
Takahiro Endo
Department of Mechanical Engineering
and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: endo@me.kyoto-u.ac.jp
and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: endo@me.kyoto-u.ac.jp
Search for other works by this author on:
Fumitoshi Matsuno
Fumitoshi Matsuno
Department of Mechanical Engineering
and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: matsuno@me.kyoto-u.ac.jp
and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: matsuno@me.kyoto-u.ac.jp
Search for other works by this author on:
Sajid Nisar
Mechatronics Laboratory,
Mechanical Engineering and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: nisar.sajid.78v@kyoto-u.jp
Mechanical Engineering and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: nisar.sajid.78v@kyoto-u.jp
Takahiro Endo
Department of Mechanical Engineering
and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: endo@me.kyoto-u.ac.jp
and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: endo@me.kyoto-u.ac.jp
Fumitoshi Matsuno
Department of Mechanical Engineering
and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: matsuno@me.kyoto-u.ac.jp
and Science,
Kyoto University,
Kyoto 615-8540, Japan
e-mail: matsuno@me.kyoto-u.ac.jp
1Corresponding author.
Manuscript received July 31, 2016; final manuscript received January 16, 2017; published online March 23, 2017. Assoc. Editor: Byung-Ju Yi.
J. Mechanisms Robotics. Jun 2017, 9(3): 031013 (9 pages)
Published Online: March 23, 2017
Article history
Received:
July 31, 2016
Revised:
January 16, 2017
Citation
Nisar, S., Endo, T., and Matsuno, F. (March 23, 2017). "Design and Kinematic Optimization of a Two Degrees-of-Freedom Planar Remote Center of Motion Mechanism for Minimally Invasive Surgery Manipulators." ASME. J. Mechanisms Robotics. June 2017; 9(3): 031013. https://doi.org/10.1115/1.4035991
Download citation file:
Get Email Alerts
Design of Rolling Motion for Snake-like Robots using Center-of-Gravity (COG) Shift
J. Mechanisms Robotics
Modelling and Control of Cable Driven Exoskeleton for Arm Rehabilitation
J. Mechanisms Robotics
Design of an underactuated, flexure-based gripper, actuated through a push-pull flexure
J. Mechanisms Robotics
Related Articles
On the Development of a New Master Device Used for Medical Tasks
J. Mechanisms Robotics (August,2018)
Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery
J. Mechanisms Robotics (June,2017)
Task-Specific Multiple-Arm Minimally Invasive Surgical Device Design Using Cooperative Kinematic Isotropy Indices
J. Med. Devices (June,2011)
Special Issue: Selected Papers From IDETC 2015
J. Mechanisms Robotics (October,2016)
Related Proceedings Papers
Related Chapters
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution