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contributor authorLi, Jianmin
contributor authorXing, Yuan
contributor authorLiang, Ke
contributor authorWang, Shuxin
date accessioned2017-05-09T01:21:34Z
date available2017-05-09T01:21:34Z
date issued2015
identifier issn1932-6181
identifier othermed_009_01_011003.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/159031
description abstractTo 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 centerofmotion (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 inout 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.
publisherThe American Society of Mechanical Engineers (ASME)
titleKinematic Design of a Novel Spatial Remote Center of Motion Mechanism for Minimally Invasive Surgical Robot
typeJournal Paper
journal volume9
journal issue1
journal titleJournal of Medical Devices
identifier doi10.1115/1.4028651
journal fristpage11003
journal lastpage11003
identifier eissn1932-619X
treeJournal of Medical Devices:;2015:;volume( 009 ):;issue: 001
contenttypeFulltext


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