Kinematic Design of a 2DoFs Remote Center of Motion Mechanism for Minimally Invasive Surgical Robot

Lianjie Guo,Hu Shi,Qichun Song, Zhaoying Liu

2021 6th IEEE International Conference on Advanced Robotics and Mechatronics (ICARM)（2021）

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摘要

Robot-assisted technology for minimally invasive surgery (MIS) can improve the quality of surgery and help surgeons carry out surgery more easily. The remote center of motion (RCM) mechanism with multiple degrees of freedom (DoFs) is one of the key parts of the MIS robot. A linear motion unit is usually used to realize the translation of the surgical tool along its axis in existing RCM mechanisms,...

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关键词

Jacobian matrices,Minimally invasive surgery,Three-dimensional displays,Medical robotics,Prototypes,Kinematics,Interference

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