Modeling and Simulation of a Remote Center of Motion Mechanism

被引：0

作者：

Chng, Chin-Boon ^{[1
]}

Duan, Bin ^{[1
]}

Chui, Chee-Kong ^{[1
]}

机构：

[1] Natl Univ Singapore, Dept Mech Engn, 9 Engn Dr 1, Singapore 117575, Singapore

来源：

PROCEEDINGS OF THE 2016 IEEE REGION 10 CONFERENCE (TENCON) | 2016年

关键词：

SPHERICAL MECHANISM; KINEMATIC OPTIMIZATION;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Reducing the invasiveness is an important task in surgery. In percutaneous surgery, it is always required to insert surgical tools from a single insertion port(SIP) on patient skin. In this paper, we analyzed a Remote Center of Motion (RCM) robot mechanism which is designed to conduct surgery through SIP. A spherical mechanism comprising two semi-circular arches were used to realize the RCM. Two motorized linear slides were incorporated into the system to actually achieve SIP. A novel analytical method for modeling the kinematics of this RCM mechanism was proposed. This method can overcome the limitation of previous method in existing literature. Simulation was conducted to show the correctness of our analytical method. Dynamics analysis of the RCM mechanism was also conducted to design force control strategies.

引用

页码：1755 / 1758

页数：4

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