Dionis: A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery
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TLDR
In this paper, a spatial hybrid mechanism based on a novel parallel kinematics is proposed to provide three rotations and one translation for single port procedures for minimally invasive surgery MIS.Abstract:
The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery MIS, a compact and accurate positioning mechanism, named Dionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation RCM that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.read more
Citations
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A piezo-driven 2-DOF compliant micropositioning stage with remote center of motion
TL;DR: In this paper, a piezo-driven 2-degree-of-freedom (2-DOF) flexure-based micropositioning stage with RCM characteristic is presented.
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Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery
TL;DR: The geometric and kinematic models of a new surgical hybrid robot used for camera and active instruments positioning are presented in this article, where the robot workspace is computed and illustrated following the singularities analysis.
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Design and Error Evaluation of Planar 2DOF Remote Center of Motion Mechanisms With Cable Transmissions
TL;DR: A novel design method for planar 2DOF RCM mechanisms is proposed based on closed-loop cable transmissions to constrain a serial kinematic chain, which provides large workspace and low collision risk for the MIS robots.
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Type Synthesis of a Special Family of Remote Center-of-Motion Parallel Manipulators With Fixed Linear Actuators for Minimally Invasive Surgery
TL;DR: Remote center-of-motion (RCM) parallel manipulators (PMs) are fit for robotized minimally invasive surgery (MIS) and will help improve the quality of care in the future.
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Kinematic analysis of a new five-bar spherical decoupled mechanism with two-degrees of freedom remote center of motion
Terence Essomba,Linh Nguyen Vu +1 more
TL;DR: This new Spherical Decoupled Mechanism provides the suppression of the parallel singularity inside its workspace that the original five-bar spherical linkage suffers from and its operational workspace is consequently larger and its kinematic performance is also improved for the same linkage sizes.
References
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Robot Analysis: The Mechanics of Serial and Parallel Manipulators
TL;DR: In this paper, Jacobian analysis of serial manipulators and Jacobian Jacobian Analysis of parallel manipulators is used to analyze the structural and stiffness properties of a serial manipulator.
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Clément Gosselin,Jorge Angeles +1 more
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