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Comparative analysis of RCM mechanisms based on parallelogram used in surgical robots for laparoscopic minimally invasive surgery

Trochimczuk Roman

Journal of Theoretical and Applied Mechanics

2020

Vol. 58 nr 4

911--925

This article presents results of comparative analysis of kinematics and dynamics of five varieties of the parallelogram-based RCM mechanism applied in real-life designs of surgical robots. Analyses were conducted using ANSYSWorkbench v. 16.2. Obtained results allow for formulation of guidelines concerning conscious selection of the form of the RCM mechanism and assessment of its usefulness from the perspective of application in new solutions of laparoscopic surgical robots.

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

Trochimczuk R.

International Journal of Applied Mechanics and Engineering

2017

Vol. 22, no. 1

229--240

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.