Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Li, Gao Kuei; Essomba, Térence; Wu, Chieh‐Tsai; Lee, Shih Tseng; Kuo, Chin-Hsing

doi:10.1177/0954406216636918

Cited by 10 publications

(8 citation statements)

References 27 publications

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“…Few mechanisms have also appeared in recent years, including a specific kinematic constraint known as the Remote Center of Motion (RCM). In [13], a hybrid mechanism decoupling two angular motions was presented. Finally, a Spherical Parallel Mechanism (SPM) for craniotomy was recently presented in [14], including optimized kinematics to guarantee highly kinematic performances.…”

Section: Robotic-assisted Craniotomymentioning

confidence: 99%

Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

Essomba¹,

Sandoval

Laribi

et al. 2021

Applied Sciences

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This paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees of Freedom (DoF) with two rotations. The proposed architecture allows one degree of redundancy according to the total DoF. Thus, a first contribution of this work focuses on the experimental analysis of craniotomy surgery tasks. Secondly, its behavior is improved, taking advantage of the redundancy of the SPM using the spinning motion as a reconfiguration variable. The spinning angle modulation allows the reconfigurable manipulator to minimize its motor torques. A series of motion capture and force experimentations is performed for the analysis of the kinematic and force interaction characterizing Burr hole craniotomy procedures. Experimentations were carried out by a neurosurgeon on a human cadaver, ensuring highly realistic conditions.

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Section: Robotic-assisted Craniotomymentioning

confidence: 99%

Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

Essomba¹,

Sandoval

Laribi

et al. 2021

Applied Sciences

Self Cite

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“…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 custom-designed 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%

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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“…The motion mechanism is generally a mechanical system comprising multiple component mechanisms that accomplish various functions by transmitting either the motion or load. [3][4][5] The reliability of a motion mechanism depends on two crucial factors which are the structure as well as the motion function reliability of individual component. The structure reliability of each component mainly refers to the reliability in term of the strength or stiffness of the component, and the component reliability is a prerequisite to ensure the motion function reliability of the mechanism.…”

Section: Introductionmentioning

confidence: 99%

A mixed-copula-based integral method for reliability analysis of a novel multi-functional rescue end-effector

Wang

Xia

Wang

et al. 2023

Advances in Mechanical Engineering

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To improve the performance of a conventional rescue equipment, we designed a novel multi-functional rescue end-effector comprising a separation mechanism and a grasping mechanism. The failure causes of the separation mechanism are analyzed, and three main failure modes are determined. Meanwhile, their performance functions are established as well. To solve the complex correlations among multiple failure modes, a novel mixed copula function that can capture the upper and lower tail dependencies simultaneously is proposed, which comprises the Gumbel copula and the Clayton copula. Further, a novel procedure that adopts the non-parametric kernel density estimation (NKDE) technique to estimate the probability density function (PDF) and the cumulative distribution function (CDF) for each performance function of the separation mechanism is proposed. The parameters of the mixed copula function are estimated using the method of maximum likelihood estimation. Subsequently, to further study the separation mechanism’s reliability during working, a time-variant parameter estimation method is introduced to build the time-variant mixed copula function. Finally, both the reliability and time-variant reliability of the separation mechanism are analyzed via the proposed integral methods. Comparisons with other analysis schemes show that the proposed integral method is not only effective but also efficient in analyzing the reliability of our target mechanism.

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Kinematic design and optimization of a novel dual-orthogonal remote center-of-motion mechanism for craniotomy

Cited by 10 publications

References 27 publications

Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

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

A mixed-copula-based integral method for reliability analysis of a novel multi-functional rescue end-effector

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