Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery Robot
The surgical robots with remote motion center （RCM） play an important role in the field of minimally invasive surgery （MIS）. Considering the advantages and disadvantages of double parallelogram and double synchronous belt RCM mechanism， a new RCM mechanism based on single synchronous belt， single pa...
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| Format: | Article |
| Language: | zho |
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Editorial Office of Journal of Mechanical Transmission
2020-09-01
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| Series: | Jixie chuandong |
| Subjects: | |
| Online Access: | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.09.026 |
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| author | Baoping Ma Fan Zhang Zhaoying Zhang Xun Zou Guosheng Zhang |
| author_facet | Baoping Ma Fan Zhang Zhaoying Zhang Xun Zou Guosheng Zhang |
| author_sort | Baoping Ma |
| collection | DOAJ |
| description | The surgical robots with remote motion center （RCM） play an important role in the field of minimally invasive surgery （MIS）. Considering the advantages and disadvantages of double parallelogram and double synchronous belt RCM mechanism， a new RCM mechanism based on single synchronous belt， single parallelogram is proposed. Based on Adams and SimMechanics， the accuracy and workspace of the fixed point at the end of the new RCM mechanism are analyzed. The simulation results show that the new RCM mechanism has higher fixed point accuracy， simple and compact mechanism and good stability on the basis of meeting the motion space required by the operation. |
| format | Article |
| id | doaj-art-f3489eb012894a98874f5f2d147596fc |
| institution | Kabale University |
| issn | 1004-2539 |
| language | zho |
| publishDate | 2020-09-01 |
| publisher | Editorial Office of Journal of Mechanical Transmission |
| record_format | Article |
| series | Jixie chuandong |
| spelling | doaj-art-f3489eb012894a98874f5f2d147596fc2025-01-10T14:46:54ZzhoEditorial Office of Journal of Mechanical TransmissionJixie chuandong1004-25392020-09-014416516829795450Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery RobotBaoping MaFan ZhangZhaoying ZhangXun ZouGuosheng ZhangThe surgical robots with remote motion center （RCM） play an important role in the field of minimally invasive surgery （MIS）. Considering the advantages and disadvantages of double parallelogram and double synchronous belt RCM mechanism， a new RCM mechanism based on single synchronous belt， single parallelogram is proposed. Based on Adams and SimMechanics， the accuracy and workspace of the fixed point at the end of the new RCM mechanism are analyzed. The simulation results show that the new RCM mechanism has higher fixed point accuracy， simple and compact mechanism and good stability on the basis of meeting the motion space required by the operation.http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.09.026RCM mechanismAdams kinematics analysisSimMechanicsMotion workspace |
| spellingShingle | Baoping Ma Fan Zhang Zhaoying Zhang Xun Zou Guosheng Zhang Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery Robot Jixie chuandong RCM mechanism Adams kinematics analysis SimMechanics Motion workspace |
| title | Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery Robot |
| title_full | Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery Robot |
| title_fullStr | Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery Robot |
| title_full_unstemmed | Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery Robot |
| title_short | Research on a New RCM Positioning Mechanism of Minimally Invasive Surgery Robot |
| title_sort | research on a new rcm positioning mechanism of minimally invasive surgery robot |
| topic | RCM mechanism Adams kinematics analysis SimMechanics Motion workspace |
| url | http://www.jxcd.net.cn/thesisDetails#10.16578/j.issn.1004.2539.2020.09.026 |
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