Analysis of parallelogram mechanism used to preserve remote center of motion for surgical telemanipulator

• Autorzy: Trochimczuk R.

Identyfikatory

DOI

10.1515/ijame-2017-0013

• Języki publikacji: EN

Abstrakty

EN

This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature, will serve as the research material. Among other things, computer simulations in the ANSYS 13.0 CAD/CAE software environment, employing the finite element method, will be used. The kinematics of the solution of manipulator with the parallelogram mechanism will be determined in order to provide a more complete description. These results will form the basis for the decision regarding the possibility of applying a parallelogram mechanism in an original prototype of a telemanipulator arm.

Słowa kluczowe

EN

parallelogram mechanism; surgical telemanipulator; robot minimally invasive surgery; stiffness FEM analysis; RCM mechanism

PL

telemanipulator chirurgiczny; analiza MES; metoda elementów skończonych

• Wydawca: Oficyna Wydawnicza Uniwersytetu Zielonogórskiego
• Czasopismo: International Journal of Applied Mechanics and Engineering
• Rocznik: 2017
• Tom: Vol. 22, no. 1
• Strony: 229--240
• Opis fizyczny: Bibliogr. 8 poz., rys., tab., wykr.

Twórcy

autor

Trochimczuk R.

• Department of Automatic Control and Robotics Faculty of Mechanical Engineering Bialystok University of Technology, POLAND

Bibliografia

• [1] Podsędkowski L. (2010): Medical robotic: Construction and Applications. – Warsaw: WNT (in Polish).
• [2] Kroczek P. and Cieślik J. (2013): Analysis of kinematic structure of RobIn Heart Vision robot In: Postępy inżynierii biomedycznej (L. Leniowska, Z. Nawrat, Ed.). – Rzeszow University, pp.331-338 (in Polish).
• [3] Podsędkowski L., Mianowski K., Wróblewski P. and Nawrat Z. (2002): Kinematic aspects of selected manipulators for cardiac surgery. – On IEEE International Conference of Methods and Models in Automation and Robotics, pp.923-928.
• [4] Trochimczuk R. (2013): Conception of arm of medical robot dedicated to application of minimally invasive surgery. – Solid State Phenomena, vol. 198, Trans Tech Publications, pp.3-8.
• [5] Trochimczuk R., Łukaszewicz A., Mikołajczyk T., Aggogeri F. and Borboni A. (2016): Stiffness FEM analysis of novel telemanipulator for minimally invasive surgery. – Journal of Intelligent & Robotic Systems (in review process).
• [6] 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, vol.8, No.2, Willey Online Library, pp.127-145.
• [7] Li J., Zhang G,, Xing Y., Liu H. and Wang S. (2014): A Class of 2-Degree-of-Freedom Planar Remote Center-of-Motion Mechanisms Based on Virtual Parallelograms. – ASME. Journal of Mechanisms and Robotics, vol.6, No.3, 031014, 08.2014.
• [8] Craig J.J. (1995): Introduction to Robotics. Mechanics and control. – Warsaw: WNT (in Polish).

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)