Kinematic Design of a Novel Two Degree-of-Freedom Parallel Mechanism for Minimally Invasive Surgery

2019 ◽  
Vol 141 (10) ◽  
Author(s):  
Wen-ao Cao ◽  
Shi-jie Xu ◽  
Kun Rao ◽  
Tengfei Ding
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Compact Structure ◽  
Minimally Invasive Surgical ◽  
Physical Prototype ◽  
Two Degree Of Freedom ◽  
Surgical Manipulator

A novel two degree-of-freedom (2-DOF) parallel mechanism with remote center-of-motion (RCM) is proposed for minimally invasive surgical applications in this paper. A surgical manipulator with expected three-rotation and one-translation (3R1T) outputs can be obtained by serially connecting a revolute pair (R) and a prismatic pair (P) to the mechanism. First, kinematics of the new mechanism is analyzed and the corresponding velocity Jacobin matrix is established. Then, singularity identification of the mechanism is performed based on screw theory. Further, main dimensions of the mechanism are designed, and a physical prototype is developed to verify the effectiveness of executing RCM. The proposed mechanism has relatively simple kinematics, and can obtain a noninterference and nonsingularity cone workspace with the top angle of 60 deg based on a compact structure.

Dynamics of a Two-DOF Parallel Pointing Mechanism

2005 ◽  
Author(s):  
Alessandro Cammarata ◽  
Rosario Sinatra
Keyword(s):  
Numerical Simulation ◽  
Parallel Mechanism ◽  
Inverse Dynamics ◽  
Kinematic Model ◽  
Degree Of Freedom ◽  
Numerical Examples ◽  
Proposed Model ◽  
Dynamic Analyses ◽  
Moving Platform ◽  
Two Degree Of Freedom

This paper presents kinematic and dynamic analyses of a two-degree-of-freedom pointing parallel mechanism. The mechanism consists of a moving platform, connected to a fixed platform by two legs of type PUS (prismatic-universal-spherical). At first a simplified kinematic model of the pointing mechanism is introduced. Based on this proposed model, the dynamics equations of the system using the Natural Orthogonal Complement method are developed. Numerical examples of the inverse dynamics results are presented by numerical simulation.

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

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Design of Double-Light Shadowless Lifting Retractor

2012 ◽  
Vol 499 ◽  
pp. 248-252
Author(s):  
Jun Sun ◽  
Bo Xiang ◽  
Ping Zhou ◽  
Rui Wang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Single Port ◽  
Abdominal Cavity ◽  
Surgical Instrument ◽  
Design Requirement ◽  
Gasless Laparoscopy ◽  
Minimally Invasive Surgical ◽  
Patented Product

The single-port gasless laparoscopic surgical instrument is an international leading patented product in minimally invasive surgery. This paper first describes the composition and the usage of the shadowless retractor of the single-port gasless laparoscopy minimally invasive surgical instrument. Aim to meet the specific requirement arise in the minimally invasive surgery for the animal abdominal cavity, we first improve the existing shadowless lifting retractor. Then, this paper proposes and designs the double-light shadowless lifting retractor. The test has shown the designed double-light shadowless lifting retractor has satisfied the design requirement. The practical tests have been done and shown the viability and effectiveness of the proposed design approach.

Reactionless Two-Degree-of-Freedom Planar Parallel Mechanism With Variable Payload

2009 ◽  
Author(s):  
Alexandre Lecours ◽  
Cle´ment Gosselin
Keyword(s):  
Dynamic Simulation ◽  
Parallel Mechanism ◽  
Reaction Force ◽  
Simulation Software ◽  
Degree Of Freedom ◽  
Dynamic Balancing ◽  
End Effector ◽  
Planar Mechanism ◽  
Two Degree Of Freedom ◽  
Arbitrary Trajectory

A reactionless mechanism is one which does not exert any reaction force or moment on its base at all times, for any arbitrary trajectory of the mechanism. This paper addresses the static and dynamic balancing of a two-degree-of-freedom parallel planar mechanism (five-bar mechanism). A simple and effective adaptive balancing method is presented that allows the mechanism to maintain the reactionless condition for a range of payloads. Important proofs concerning the balancing of five-bar mechanisms are also presented. The design of a real mechanism where parallelogram linkages are used to produce pure translations at the end-effector is also presented. Finally, using dynamic simulation software, it is shown that the mechanism is reactionless for arbitrarily chosen trajectories and for a variety of payloads.

Development of a Pneumatic Surgical Manipulator IBIS IV

2010 ◽  
Vol 22 (2) ◽  
pp. 179-188 ◽  
Author(s):  
Kotaro Tadano ◽  
◽  
Kenji Kawashima ◽  
Kazuyuki Kojima ◽  
Naofumi Tanaka ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Force Measurement ◽  
Use Of Force ◽  
Robotic Manipulators ◽  
Force Estimation ◽  
Improved Model ◽  
External Forces ◽  
Surgical Manipulator

In teleoperated, minimally invasive surgery systems, the measurement and conveyance of a sense of force to the operator is problematic. In order to carry out safer and more precise operations using robotic manipulators, force measurement and operator feedback are very important factors. We previously proposed a pneumatic surgical manipulator that is capable of estimating external force without the use of force sensors. However, the force estimation had a sensitivity of only 3 N because of inertia and friction effects. In this paper, we develop a new and improved model of the pneumatic surgical manipulator, IBIS IV. We evaluate its performance in terms of force estimation. The experimental results indicate that IBIS IV estimates external forces with a sensitivity of 1.0 N. We also conduct an in-vivo experiment and confirm the effectiveness and improvement of the manipulator.

Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot

2015 ◽  
Vol 9 (1) ◽  
Author(s):  
Jianmin Li ◽  
Yuan Xing ◽  
Ke Liang ◽  
Shuxin Wang
Keyword(s):  
Minimally Invasive ◽  
Parallel Mechanism ◽  
Degrees Of Freedom ◽  
Point Of View ◽  
Surgical Robot ◽  
Main Body ◽  
Minimally Invasive Surgical ◽  
Surgical Tool ◽  
Movable Platform ◽  
Robotic Wrist

To deliver more value to the healthcare industry, a specialized surgical robot is needed in the minimally invasive surgery (MIS) field. To fill this need, a compact hybrid robotic wrist with four degrees of freedom (DOFs) is developed for assisting physicians to perform MIS. The main body of the wrist is a 2DOF parallel mechanism with a remote center-of-motion (RCM), which is located outside the mechanism. From the mechanical point of view, it is different from existing 2DOF spherical mechanisms, since there is no physical constraint on the RCM. Other DOFs of the wrist are realized by a revolute joint and a prismatic joint, which are serially mounted on the movable platform of the parallel mechanism. The function of these DOFs is to realize the roll motion and the in-out translation of the surgical tool. Special attention is paid to the parallel RCM mechanism. The detailed design is provided and the kinematic equations are obtained in the paper. Further, the Jacobian matrix is derived based on the kinematic equations. Finally, the paper examines the singularity configurations and implements the condition number analysis to identify the kinematic performance of the mechanism.

scholarly journals Aquablation: a novel and minimally invasive surgery for benign prostate enlargement

2018 ◽  
Vol 10 (6) ◽  
pp. 183-188 ◽  
Author(s):  
Samih Taktak ◽  
Patrick Jones ◽  
Ahsanul Haq ◽  
Bhavan Prasad Rai ◽  
Bhaskar K. Somani
Keyword(s):  
High Pressure ◽  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Safety And Efficacy ◽  
Surgical Technology ◽  
Minimally Invasive Surgical ◽  
Early Results ◽  
Prostate Enlargement ◽  
Benign Prostate

Aquablation is a minimally invasive surgical technology for benign prostate enlargement, which uses high-pressure saline to remove parenchymal tissue through a heat-free mechanism of hydrodissection. Early results show this to be a promising surgical strategy with a strong morbidity profile and reduced resection time. This review serves to provide an overview of the technique and evaluate its safety and efficacy.

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