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New remote centre of motion mechanism for robot-assisted minimally invasive surgery

Zhou, Xiaoqin ; Zhang, Haijun ; Feng, Mei ; Zhao, Ji ; Fu, Yili

Biomedical engineering online, 2018-11, Vol.17 (1), p.170-170, Article 170 [Periódico revisado por pares]

England: BioMed Central Ltd

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Título:
New remote centre of motion mechanism for robot-assisted minimally invasive surgery
Autor: Zhou, Xiaoqin ; Zhang, Haijun ; Feng, Mei ; Zhao, Ji ; Fu, Yili
Assuntos: Analysis ; Biomechanical Phenomena ; Collision avoidance ; Deviation ; Elasticity ; End effectors ; Equipment Design ; Humans ; Incremental motion control ; International conferences ; Inverse kinematics ; Kinematics ; Laparoscopes ; Laparoscopy ; Laparoscopy - instrumentation ; Minimally Invasive Surgical Procedures - instrumentation ; Motion ; Motion error ; Patient Safety ; Positioning devices (machinery) ; Pressure ; Remote centre of motion mechanism ; Researchers ; Robot arms ; Robot dynamics ; Robot-assisted minimally invasive surgery ; Robotic surgery ; Robotic Surgical Procedures - instrumentation ; Robotics ; Robots ; Rotation ; Skin ; Surgeons ; Surgery ; Surgery, Computer-Assisted - instrumentation ; Telesurgery
É parte de: Biomedical engineering online, 2018-11, Vol.17 (1), p.170-170, Article 170
Notas: ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
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Descrição: Robot-assisted minimally invasive surgery (RMIS) is promising for improving surgical accuracy and dexterity. As the end effector of the robotic arm, the remote centre of motion mechanism is one of the requisite terms for guaranteeing patient safety. The existing remote centre of motion mechanisms are complex and large in volume, as well as high assembly requirement and unsatisfactory precise. This paper aimed to present a new remote centre of motion mechanism for solving these problems. A new mechanism based on the RMIS requirements is proposed for holding the laparoscope and generating a remote centre of motion for the laparoscope. The mechanism kinematics is then analysed from the perspective of the structural function, and its inverse kinematics is determined with a small number of calculations. Finally, the position deviation of the laparoscope rotational point is chosen as the index to evaluate the mechanism performance. The experiments are performed to test the deviation. The position deviations of the laparoscope rotational point do not exceed 2 mm, which is lower than that of the existing remote centre of motion mechanism. The 2 mm positioning error of the laparoscope won't affect surgeon observation of the surgical field, and the pressure caused by the positioning error was acceptable for the skin elasticity. The proposed mechanism meets the RMIS requirement. The proposed mechanism can achieve the remote centre of motion for the laparoscope. Its simple and compact structure is beneficial to avoid the collision of robotic arms, and it can be applied on other robots for providing the instrument necessary motion in minimally invasive surgery.
Editor: England: BioMed Central Ltd
Idioma: Inglês

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New remote centre of motion mechanism for robot-assisted minimally invasive surgery

Zhou, Xiaoqin ; Zhang, Haijun ; Feng, Mei ; Zhao, Ji ; Fu, Yili

England: BioMed Central Ltd

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