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 ...
Type Synthesis and Analysis of Reconfigurable Modules for Closed-Loop Cable-Driven Mechanisms Based on Geometric Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cable-driven mechanisms, particularly in closed-loop configurations, have demonstrated significant advancements in flexible drive systems. However, the cable tension changes caused by the closed-loop configuration cannot ...