Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator

Trochimczuk, R.

doi:10.1515/ijame-2017-0013

Cited by 5 publications

(3 citation statements)

References 4 publications

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“…It has been learnt that a double-parallelogram, its several variants, and modifications have been extensively used to generate inherently safe RCM for various MIS procedures. 7–19…”

Section: Introductionmentioning

confidence: 99%

“…It has been learnt that a double-parallelogram, its several variants, and modifications have been extensively used to generate inherently safe RCM for various MIS procedures. [7][8][9][10][11][12][13][14][15][16][17][18][19] The introduced devices included LARS, 9 Black Falcon, 10 state-of-the-art da Vinci surgical system, 11 BlueDRAGON, 12 UCB/UCSF, 13 Robin Heart, 14 three novel mechanisms for MIS, 8,20,21 a customdesigned robot, 22 a generalized double-parallelogram based RCM mechanism, 23 etc. In these contributions, the key focus was on kinematics and the structural design of the RCM mechanism.…”

Section: Introductionmentioning

confidence: 99%

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Sensitivity analysis of a double-parallelogram based RCM mechanism used for MIS robots

Singh

Khatait

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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Parallelogram-based remote center-of-motion (RCM) mechanisms are extensively used to design robots for minimally invasive surgery (MIS). For their kinematic modeling, classically, it is assumed that link parameters of the opposite sides of constituting parallelograms are equal which made the RCM an invariant point and simplified the prescribed modeling process. However, link parameter equality does not exist in actual practice due to the inevitable constraints of manufacturing, assembly and testing/measurement, etc. Consequently, the RCM and surgical end-effector deviate from their theoretically designed positions. This paper introduces a novel approach to model the kinematics of parallelogram-based mechanisms by accounting for the error in manufactured link parameters. Additionally, it works out the types, possible ways, order, and nature of the said deviation. Further, a double-parallelogram-based RCM mechanism is adopted to demonstrate the proposed concept, and a prototype of the same is manufactured using laser micromachining and rapid prototyping techniques. Thereafter, the developed kinematic models are validated both analytically and physically. In contrast to the results given by the conventional kinematic modeling approach, the results obtained through the proposed approach and performed experiment showed better agreement with each other. The sensitivity of RCM and surgical end-effector to the inequalities, involved in the manufactured prototype, is revealed through several plots in the Matlab environment. A significant improvement in positional accuracy of the RCM and surgical end-effector have been achieved. It proves the efficacy of the presented method and it is believed that it applies to other parallelogram-based mechanisms as well.

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“…It has been learnt that a double-parallelogram, its several variants, and modifications have been extensively used to generate inherently safe RCM for various MIS procedures. 7–19…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Sensitivity analysis of a double-parallelogram based RCM mechanism used for MIS robots

Singh

Khatait

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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“…The parallelogram mechanism is commonly adopted in MIS robots having high rigidity and, such as the Neurobot [ 19 ], BlueDRAGON [ 20 ], and the famous da Vinci Surgical System (Intuitive Surgical Inc.) [ 21 ]. In addition, many manipulators have been developed based on this architecture, which have diverse structural forms [ 5 , 20 , 22 – 32 ]. However, a conflict exists between the mechanism movement range and structure.…”

Section: Introductionmentioning

confidence: 99%

New remote centre of motion mechanism for robot-assisted minimally invasive surgery

et al. 2018

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BackgroundRobot-assisted minimally invasive surgery (RMIS) is promising for improving surgical accuracy and dexterity. As the end effector of the robotic arm, the remote centre of motion mechanism is one of the requisite terms for guaranteeing patient safety. The existing remote centre of motion mechanisms are complex and large in volume, as well as high assembly requirement and unsatisfactory precise. This paper aimed to present a new remote centre of motion mechanism for solving these problems.MethodsA new mechanism based on the RMIS requirements is proposed for holding the laparoscope and generating a remote centre of motion for the laparoscope. The mechanism kinematics is then analysed from the perspective of the structural function, and its inverse kinematics is determined with a small number of calculations. Finally, the position deviation of the laparoscope rotational point is chosen as the index to evaluate the mechanism performance. The experiments are performed to test the deviation.ResultsThe position deviations of the laparoscope rotational point do not exceed 2 mm, which is lower than that of the existing remote centre of motion mechanism. The 2 mm positioning error of the laparoscope won’t affect surgeon observation of the surgical field, and the pressure caused by the positioning error was acceptable for the skin elasticity. The proposed mechanism meets the RMIS requirement.ConclusionsThe proposed mechanism can achieve the remote centre of motion for the laparoscope. Its simple and compact structure is beneficial to avoid the collision of robotic arms, and it can be applied on other robots for providing the instrument necessary motion in minimally invasive surgery.

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Mechanical Effects of Medical Device Attachment to Human Tympanic Membrane

Ebrahimian,

Mohammadi,

Maftoon

2024

JARO

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Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator

Cited by 5 publications

References 4 publications

Sensitivity analysis of a double-parallelogram based RCM mechanism used for MIS robots

Sensitivity analysis of a double-parallelogram based RCM mechanism used for MIS robots

New remote centre of motion mechanism for robot-assisted minimally invasive surgery

Mechanical Effects of Medical Device Attachment to Human Tympanic Membrane

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