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contributor authorLiu, Shao T.
contributor authorHarewood, Laurence
contributor authorChen, Bernard
contributor authorChen, Chao
date accessioned2017-05-09T01:31:38Z
date available2017-05-09T01:31:38Z
date issued2016
identifier issn1942-4302
identifier otherjmr_008_04_041015.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/161972
description abstractThe parallelogrambased remote center of motion (RCM) mechanism used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between the robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel mechanism with RCM, dualtriangular linkage (DTlinkage), is introduced to reduce the occupied space by the linkage while keeping sufficient space around the incision. Hence, the chance of collisions among arms and tools can be reduced. The concept of this dualtriangular linkage is proven mathematically and validated by a prototype. Auxiliary mechanisms are introduced to remove the singularity at the fully folded configuration. The characterized footprints of this new linkage and the one based on parallelograms are analyzed and compared.
publisherThe American Society of Mechanical Engineers (ASME)
titleA Skeletal Prototype of Surgical Arm Based on Dual Triangular Mechanism
typeJournal Paper
journal volume8
journal issue4
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4032976
journal fristpage41015
journal lastpage41015
identifier eissn1942-4310
treeJournal of Mechanisms and Robotics:;2016:;volume( 008 ):;issue: 004
contenttypeFulltext


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