Abstract
Abstract In this paper, a new remote center motion (RCM) mechanism called triangle is proposed; this mechanism is simple and with high stiffness. A complete kinematic analysis and optimization algorithm implying AHP which is a combination of quantitative and qualitative analysis method incorporating the requirements for minimally invasive surgery (MIS) are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle two-link manipulator used to guide the surgical tool, the optimization link angles are 74° and 51°. Prior preoperative adjustment is usually realized by electromagnetic clutch. However, the disadvantage of this method is that the joint is complex, big, and heavy because of gravity balance mechanism. A new preoperative adjustment method realized by resistance compensation is proposed without electromagnetic clutch; the joint is simpler and lighter than the conventional joint.
Highlights
Compared with conventional surgery, minimally invasive surgery (MIS) is accomplished by inserting the surgical tool into the patient’s body through small incisions
In order to solve the limitation of MIS application, computer and robotics assistance is an appropriate choice
Turn on the power and the end effector is fixed. This method has some shortcomings, such as: the electromagnetic clutch and compensation mechanism will increase the difficulty of joint design and the value and mass of the joint
Summary
MIS is accomplished by inserting the surgical tool into the patient’s body through small incisions. The Korea Advanced Institute of Science and Technology developed the KalAR [10] endoscopic surgical robot utilizing circular mechanism to achieve RCM, Niu et al Robotics and Biomimetics (2015) 2:2. Many institutes and companies have some research achievements utilizing spherical mechanism to achieve RCM, such as the EndoBot robot system [11, 12], LER endoscopic [13], raven medical robot [14], MC2E surgical robot [15], five freedom CURES medical robot [16], laparoscopic holder assisting robot [17], a spherical wrist mechanism robot that replaced human assistant developed by Jeff K. Turn on the power and the end effector is fixed This method has some shortcomings, such as: the electromagnetic clutch and compensation mechanism will increase the difficulty of joint design and the value and mass of the joint.
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