A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.
Issue Section:
Research Papers
References
1.
Kuo
, C.-H.
, Dai
, J. S.
, and Dasgupta
, P.
, 2012, “Kinematic Design Considerations for Minimally Invasive Surgical Robots: An Overview
,” The International Journal of Medical Robotics and Computer Assisted Surgery
, (in press).2.
Taylor
, R. H.
, Funda
, J.
, Grossman
, D. D.
, Karidis
, J. P.
, and Larose
, D. A.
, 1994, “Improved Remote Center-of-Motion Robot for Surgery
,” European Patent No. EP0595291.3.
Taylor
, R. H.
, and Stoianovici
, D.
, 2003, “Medical Robotics in Computer-Integrated Surgery
,” IEEE J. Rob. Autom.
, 19
(5
), pp. 765
–781
.4.
Kuo
, C.-H.
, and Dai
, J. S.
, 2008, “Robotics for Minimally Invasive Surgery: A Historical Review from the Perspective of Kinematics
,” International Symposium on History of Machines and Mechanisms - Proceedings of HMM 2008
, H.-S.
Yan
and M.
Ceccarelli
, eds., Tainan, Taiwan, Nov. 10–14, pp. 337
–354
.5.
Pott
, P. P.
, Scharf
, H.-P.
, and Schwarz
, M. L. R.
, 2005, “Today’s State of the Art in Surgical Robotics
,” Computer Aided Surg.
, 10
(2
), pp. 101
–132
.6.
Hervé
, J. M.
, and Sparacino
, F.
, 1991, “Structural Synthesis of ‘Parallel’ Robots Generating Spatial Translation
,” Proceedings of the 5th IEEE International Conference on Advanced Robotics
, Pisa
, Italy, June 19–22, Vol. 1
, pp. 808
–813
.7.
Carricato
, M.
, and Parenti-Castelli
, V.
, 2002, “Singularity-Free Fully-Isotropic Translational Parallel Mechanisms
,” Int. J. Robot Res.
, 21
(2
), pp. 161
–174
.8.
Kim
, H. S.
, and Tsai
, L. W.
, 2002, “Evaluation of a Cartesian Parallel Manipulator
,” Advances in Robot Kinematics: Theory and Applications
, J. Lenarčič and J. F. Thomas
, eds, Kluwer, Dordrecht
, pp. 21
–28
.9.
Li
, W.
, Gao
, F.
, and Zhang
, J.
, 2005, “R-CUBE, a Decoupled Parallel Manipulator Only With Revolute Joints
,” Mech. Mach. Theory
, 40
(4
), pp. 467
–473
.10.
Briot
, S.
, and Bonev
, I. A.
, 2009, “Pantopteron: A New Fully Decoupled 3DOF Translational Parallel Robot for Pick-and-Place Applications
,” J. Mech. Rob.
, 1
(2
), pp. 021001(1
-9)
.11.
Ruggiu
, M.
, 2009, “Kinematic Analysis of a Fully Decoupled Translational Parallel Manipulator
,” Robotica
, 27
(7
), pp. 961
–969
.12.
Carricato
, M.
, 2005, “Fully Isotropic Four-Degrees-of-Freedom Parallel Mechanisms for Schoenflies Motion
,” Int. J. Robot. Res.
, 24
(5
), pp. 397
–414
.13.
Richard
, P.-L.
, Gosselin
, C. M.
, and Kong
, X.
, 2007, “Kinematic Analysis and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator
,” ASME J. Mech. Des
, 129
(6
), pp. 611
–616
.14.
Briot
, S.
, Arakelian
, V.
, and Guégan
, S.
, 2008, “Design and Prototyping of a Partially Decoupled 4-DOF 3T1R Parallel Manipulator With High-Load Carrying Capacity
,” ASME J. Mech. Des.
, 130
(12
), pp. 122303
–7
.15.
Briot
, S.
, and Bonev
, I. A.
, 2010, “Pantopteron-4: A New 3T1R Decoupled Parallel Manipulator for Pick-and-Place Applications
,” Mech. Mach. Theory
, 45
(5
), pp. 707
–721
.16.
Innocenti
, C.
, and Parenti-Castelli
, V.
, 1991, “Direct Kinematics of the 6–4 Fully Parallel Manipulator With Position and Orientation Uncoupled
,” Proceedings of the European Robotics and Intelligent Systems Conference
, Corfu
, Greece, pp. 3
–10
.17.
Zhang
, C.-d.
, and Song
, S.-M.
, 1991, “Forward Kinematics of a Class of Parallel (Stewart) Platforms With Closed-Form Solutions
,” Proceedings of IEEE International Conference on Robotics and Automation
, Sacramento
, California, April 9–11, Vol. 3
, pp. 2676
–2681
.18.
Lallemand
, J. P.
, Goudali
, A.
, and Zeghloul
, S.
, 1997, “The 6-Dof 2-Delta Parallel Robot
,” Robotica
, 15
(4
), pp. 407
–416
.19.
Yang
, G.
, Chen
, I.-M.
, Chen
, W.
, and Lin
, W.
, 2004, “Kinematic Design of a Six-DOF Parallel-Kinematics Machine With Decoupled-Motion Architecture
,” IEEE Trans. Rob. Autom.
, 20
(5
), pp. 876
–887
.20.
Kong
, X.
, and Gosselin
, C. M.
, 2007, “Type Synthesis of Six-DOF Wrist-Partitioned Fully Parallel Manipulators
,” Proceedings of ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference
, Las Vegas, Nevada, Sept. 4–7, Paper No. DETC2007–35531.21.
Lee
, M. K.
, and Park
, K. W.
, 2000, “Workspace and Singularity Analysis of a Double Parallel Manipulator
,” IEEE/ASME Transactions on Mechatronics
, 5
(4
), pp. 367
–375
.22.
Altuzarra
, O.
, Loizaga
, M.
, Pinto
, C.
, and Petuya
, V.
, 2010, “Synthesis of Partially Decoupled Multi-Level Manipulators With Lower Mobility
” Mech.Mach. Theory
, 45
(1
), pp. 106
–118
.23.
Vertechy
, R.
, and Parenti-Castelli
, V.
, 2009, “Kinematic Analysis of Partially Decoupled Fully-Parallel Manipulators of Type 5-5 and 4-5
,” Robotica
, 27
(2
), pp. 235
–240
.24.
Jin
, Y.
, Chen
, I.-M.
, and Yang
, G.
, 2006, “Kinematic Design of a 6-DOF Parallel Manipulator With Decoupled Translation and Rotation
,” IEEE Trans. Rob. Autom.
, 22
(3
), pp. 545
–551
.25.
Jin
, Y.
, Chen
, I.-M.
, and Yang
, G.
, 2009, “Kinematic Design of a Family of 6-DOF Partially Decoupled Parallel Manipulators
,” Mech. Mach. Theory
, 44
(5
), pp. 912
–922
.26.
Glazunov
, V.
, 2010, “Design of Decoupled Parallel Manipulators by Means of the Theory of Screws
,” Mech. Mach. Theory
, 45
(2
), pp. 239
–250
.27.
Carricato
, M.
, and Parenti-Castelli
, V.
, 2004, “A Novel Fully Decoupled Two-Degrees-of-Freedom Parallel Wrist
,” Int. J. Robot Res.
, 23
(6
), pp. 661
–667
.28.
Jin
, Q.
, and Yang
, T.-L.
, 2004, “Synthesis and Analysis of a Group of 3-Degree-of-Freedom Partially Decoupled Parallel Manipulators
,” ASME J. Mech., Transm., Autom. Des.
, 126
(2
), pp. 301
–306
.29.
Zhang
, Y.
, Liu
, H.
, and Wu
, X.
, 2009, “Kinematics Analysis of a Novel Parallel Manipulator
,” Mech. Mach. Theory
, 44
(9
), pp. 1648
–1657
.30.
Gogu
, G.
, 2008, Structural Synthesis of Parallel Robots: Part 1, Methodology
, Springer
, Dordrecht, Netherlands
.31.
Gogu
, G.
, 2008, “Fully-Isotropic T1R3-Type Redundantly-Actuated Parallel Manipulators
,” Lecture Notes in Control and Information Sciences
, S.
Lee
, I. H.
Suh
, and M. S.
Kim
, eds, Berlin
, Springer
, Vol. 370
, pp. 79
–90
.32.
Tsai
, L.-W.
, 1999, Robot Analysis: The Mechanics of Serial and Parallel Manipulators
, Wiley
, New York
.33.
Kuo
, C.-H.
, and J. S.
, Dai
, 2010, “Jacobian Analysis of Parallel Robotic Manipulators With a Passive Constraint Leg
,” The First IFToMM Asian Conference on Mechanism and Machine Science
, Taipei, Taiwan, Oct. 21–25.34.
Lum
, M. J. H.
, Rosen
, J.
, Sinanan
, M. N.
, and Hannaford
, B.
, 2004, “Kinematic Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot
,” Proceedings of IEEE International Conference on Robotics and Automation
, New Orleans
, Louisiana, April 26–May 1, Vol. 1
, pp. 829
–834
.Copyright © 2012
by American Society of Mechanical Engineers
You do not currently have access to this content.
