- 期刊
- OpenAccess
Novel Linkage with Remote Centre of Motion
並列摘要
The parallelogram-based remote centre of motion (RCM) structure used for robotic minimally invasive surgery (MIS) manipulators generates a relatively large device footprint. The consequence being larger chance of interference between robotic arms and restricted workspace, hence obstruct optimal surgical functioning. A novel RCM mechanism is introduced to reduce the size of linkage while leaving the mechanism distal from the remote centre, thus potentially minimise the footprint of the device. In this work the conceptual design of the RCM mechanism is proven mathematically and validated by a prototype. Auxiliary mechanisms are designed to remove singularities.
被引用紀錄
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延伸閱讀
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