Type Synthesis of N-Parallelogram-Based Surgical Arm with Remote Actuated Configuration

摘要：

　　Two remote actuated one rotational and one translational degree of freedom (1R1T DOF) surgical mechanisms are synthesized based on N-parallelogram linkages.The remote actuation of surgical arm keeps the bulky driving members away and saves the space.The surgical arms are also magnetic resonance imaging (MRI)-compatible in terms of noise reduction and space saving,since open MRI has narrow opening.The synthesis processes are implemented by combining the remote center motion (RCM) mechanism with the remote actuate 1R1T mechanisms.The N-parallelogram linkages play a key role in the synthesis of the novel remote actuate 1R1T mechanisms.

关键词： Minimally invasive surgery Surgical arm Remote center motion Remote actuated configuration

作者: Fan Zhang Xue Zhang Lubin Hang Cunyue Lu Tomonari Furukawa

作者单位: Department of Mechanical Engineering, Shanghai University of Engineering Science,Shanghai, China School of Electronic Information and Electrical Engnieering, Shanghai Jiao Tong University, Shanghai Department of Mechanical Engineering, Virginia Tech, Blackburg, USA

会议类型: 国际会议

会议名称: 2016中国机构与机器科学国际会议

会议地点: 广州

会议语种:英文

页码: 183-194

在线出版日期: 2016-12-15（万方平台首次上网日期，不代表论文的发表时间）