A novel remote center of motion mechanism for the force‐reflective master robot of haptic tele‐surgery systems. Issue 2 (4th June 2013)

• Record Type: Journal Article
• Authors: Hadavand, Mostafa; Mirbagheri, Alireza; Behzadipour, Saeed; Farahmand, Farzam
• Is Part Of: International journal of medical robotics and computer assisted surgery. Volume 10:Issue 2(2014)
• Page Start: 129
• Page End: 139
• Publication Date: 2013-06-04
• Subjects: Robotics in medicine -- Periodicals; Surgery -- Technological innovations -- Periodicals; Imaging systems in medicine -- Periodicals; 617.90285
• DOI: 10.1002/rcs.1515
• Languages: English
• ISSNs: 1478-5951

Abstract

<abstract abstract-type="main"> <title>Abstract</title> <sec id="rcs1515-sec-0001" sec-type="section"> <title>Background</title> <p>An effective master robot for haptic tele‐surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia.</p> </sec> <sec id="rcs1515-sec-0002" sec-type="section"> <title>Method</title> <p>A novel 4 + 1‐DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests.</p> </sec> <sec id="rcs1515-sec-0003" sec-type="section"> <title>Results</title> <p>With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand‐inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints.</p> </sec> <sec id="rcs1515-sec-0004" sec-type="section"> <title>Conclusions</title> <p>The proposed mechanism meets the basic requirements of an effective master robot for haptic tele‐surgery applications. Copyright © 2013 John Wiley &amp; Sons, Ltd.</p> </sec> </abstract>