Search
CSV
RISA Class of 2 Degree of Freedom Planar Remote Center of Motion Mechanisms Based on Virtual Parallelograms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robotassisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. The remote centerofmotion (RCM) mechanism is one of the main components of a MIS robot. However, the widely used ...
Kinematic Design of a Novel Spatial Remote Center of Motion Mechanism for Minimally Invasive Surgical Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: 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) ...
A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: If a part of a mechanism is restrained to rotate about a point not physically belonging to it, the mechanism is called a remote centerofmotion (RCM) mechanism. The RCM mechanisms are generally designed especially for ...
Kinematic Design of a Generalized Double Parallelogram Based Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Full-Dimensional Intuitive Motion Mapping Strategy for Minimally Invasive Surgical Robot With Redundant Passive Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Adding redundant passive joints to a robotic arm is an effective way to make the robot overcome the inherent incision constraint of minimally invasive surgery (MIS). However, due to the limited motion accuracy, it is ...