Premium
A novel remote center of motion mechanism for the force‐reflective master robot of haptic tele‐surgery systems
Author(s) -
Hadavand Mostafa,
Mirbagheri Alireza,
Behzadipour Saeed,
Farahmand Farzam
Publication year - 2014
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.1515
Subject(s) - workspace , haptic technology , kinematics , computer science , robot , mechanism (biology) , simulation , parallelogram , inertia , robot end effector , backlash , actuator , motion (physics) , telerobotics , artificial intelligence , mobile robot , physics , classical mechanics , quantum mechanics
Background An effective master robot for haptic tele‐surgery applications needs to provide a solution for the inversed movements of the surgical tool, in addition to sufficient workspace and manipulability, with minimal moving inertia. Method A novel 4 + 1‐DOF mechanism was proposed, based on a triple parallelogram linkage, which provided a Remote Center of Motion (RCM) at the back of the user's hand. The kinematics of the robot was analyzed and a prototype was fabricated and evaluated by experimental tests. Results With a RCM at the back of the user's hand the actuators far from the end effector, the robot could produce the sensation of hand‐inside surgery with minimal moving inertia. The target workspace was achieved with an acceptable manipulability. The trajectory tracking experiments revealed small errors, due to backlash at the joints. Conclusions The proposed mechanism meets the basic requirements of an effective master robot for haptic tele‐surgery applications. Copyright © 2013 John Wiley & Sons, Ltd.