A new 3R1T parallel robot with remote centre of motion for minimally invasive surgery

Aislinn McAleenan, Yinglun Jian, Yan Jin, Dan Sun, Johnny Moore

Research output: Chapter in Book/Report/Conference proceedingChapter (peer-reviewed)peer-review

Abstract

This paper describes the design and development of a new 3R1T parallel medical robot for minimally invasive surgery. This is the first time a coaxial spherical parallel mechanism has been utilised in a surgical capacity, integrating a cable-driven translational fourth degree of freedom. The forward and inverse kinematics, workspace and singularity analyses, cable motion range and dimensional synthesis are presented. The detailed mechanical design is discussed, including a novel method for translating the surgical tool via a cable driven actuation system. As all the motors have been successfully located on the base, inertial forces are reduced. The physical prototype of the robot has been fabricated.
Original languageEnglish
Title of host publicationProceedings of MSR-RoManSy 2024. Combined IFToMM Symposium of RoManSy and USCToMM Symposium on Mechanical Systems and Robotics
EditorsPierre Larochelle, J. Michael McCarthy, Craig P. Lusk
PublisherSpringer
Pages129-142
ISBN (Electronic)9783031606182
ISBN (Print)9783031606205
DOIs
Publication statusPublished - 29 May 2024
EventMSR-RoManSy 2024. Combined IFToMM Symposium of RoManSy and USCToMM Symposium on Mechanical Systems and Robotics - St Petersburg, United States
Duration: 23 May 202425 May 2024

Publication series

NameMechanisms and Machine Science
PublisherSpringer Cham
Number1
Volume159
ISSN (Print)2211-0984
ISSN (Electronic)2211-0992

Conference

ConferenceMSR-RoManSy 2024. Combined IFToMM Symposium of RoManSy and USCToMM Symposium on Mechanical Systems and Robotics
Country/TerritoryUnited States
CitySt Petersburg
Period23/05/202425/05/2024

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