A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery

Yinglun Jian; Yan Jin; Mark Price; Johnny Moore

doi:10.1109/BioRob49111.2020.9224344

A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery

Yinglun Jian^*, Yan Jin, Mark Price, Johnny Moore

^*Corresponding author for this work

School of Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

366 Downloads (Pure)

Abstract

Millions of patients suffering from eye disease cannot receive proper treatment due to the lack of qualified surgeons. Medical robots have the potential to solve this problem and consequently are attracting significant attention in the research community. This paper introduces a new 7-degree-of-freedom (DOF) 2-PRRRRR parallel robot with remote-center-of-motion for eye surgery. Mobility requirement, robot mechanism synthesis, kinematics, singularity, dimensional optimization for the prescribed workspace and highest dexterity, are presented, as well as detailed design and stiffness analysis. Results show the new robot has great potential for aiding the high precision eye surgical operations.

Original language	English
Title of host publication	2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	891-896
Number of pages	6
ISBN (Print)	978-1-7281-5907-2
DOIs	https://doi.org/10.1109/BioRob49111.2020.9224344
Publication status	Published - 29 Nov 2020
Event	2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob): BIOROB2020 - Columbia University, New York, United States Duration: 29 Nov 2020 → 01 Dec 2020 https://biorob2020nyc.org/

Publication series

Name	2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Publisher	IEEE
ISSN (Electronic)	2155-1782

Conference

Conference	2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)
Country/Territory	United States
City	New York
Period	29/11/2020 → 01/12/2020
Internet address	https://biorob2020nyc.org/

Keywords

surgery robot
parallel robot
remote center of motion
Kinematics

Access to Document

10.1109/BioRob49111.2020.9224344Licence: Unspecified

A new 7-degree-of-freedom parallel robot with remote center-of-motion for eye surgery
Copyright 2020 IEEE. This work is made available online in accordance with the publisher’s policies. Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 752 KBLicence: Unspecified

Design and preliminary development of a conceptual robot mechanism for eye surgery
Jian, Y. (Author), Jin, Y. (Supervisor) & Price, M. (Supervisor), Jul 2023
Student thesis: Doctoral Thesis › Doctor of Philosophy

Cite this

Jian, Y., Jin, Y., Price, M., & Moore, J. (2020). A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery. In 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) (pp. 891-896). ( 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/BioRob49111.2020.9224344

Jian, Yinglun ; Jin, Yan ; Price, Mark et al. / A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery. 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). Institute of Electrical and Electronics Engineers Inc., 2020. pp. 891-896 ( 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)).

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title = "A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery",

abstract = "Millions of patients suffering from eye disease cannot receive proper treatment due to the lack of qualified surgeons. Medical robots have the potential to solve this problem and consequently are attracting significant attention in the research community. This paper introduces a new 7-degree-of-freedom (DOF) 2-PRRRRR parallel robot with remote-center-of-motion for eye surgery. Mobility requirement, robot mechanism synthesis, kinematics, singularity, dimensional optimization for the prescribed workspace and highest dexterity, are presented, as well as detailed design and stiffness analysis. Results show the new robot has great potential for aiding the high precision eye surgical operations.",

keywords = "surgery robot, parallel robot, remote center of motion, Kinematics",

author = "Yinglun Jian and Yan Jin and Mark Price and Johnny Moore",

year = "2020",

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doi = "10.1109/BioRob49111.2020.9224344",

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booktitle = "2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)",

address = "United States",

note = "2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob) : BIOROB2020 ; Conference date: 29-11-2020 Through 01-12-2020",

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Jian, Y, Jin, Y , Price, M & Moore, J 2020, A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery. in 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Institute of Electrical and Electronics Engineers Inc., pp. 891-896, 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), New York, United States, 29/11/2020. https://doi.org/10.1109/BioRob49111.2020.9224344

A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery. / Jian, Yinglun; Jin, Yan ; Price, Mark et al.
2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). Institute of Electrical and Electronics Engineers Inc., 2020. p. 891-896 ( 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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AU - Jin, Yan

AU - Price, Mark

AU - Moore, Johnny

PY - 2020/11/29

Y1 - 2020/11/29

N2 - Millions of patients suffering from eye disease cannot receive proper treatment due to the lack of qualified surgeons. Medical robots have the potential to solve this problem and consequently are attracting significant attention in the research community. This paper introduces a new 7-degree-of-freedom (DOF) 2-PRRRRR parallel robot with remote-center-of-motion for eye surgery. Mobility requirement, robot mechanism synthesis, kinematics, singularity, dimensional optimization for the prescribed workspace and highest dexterity, are presented, as well as detailed design and stiffness analysis. Results show the new robot has great potential for aiding the high precision eye surgical operations.

AB - Millions of patients suffering from eye disease cannot receive proper treatment due to the lack of qualified surgeons. Medical robots have the potential to solve this problem and consequently are attracting significant attention in the research community. This paper introduces a new 7-degree-of-freedom (DOF) 2-PRRRRR parallel robot with remote-center-of-motion for eye surgery. Mobility requirement, robot mechanism synthesis, kinematics, singularity, dimensional optimization for the prescribed workspace and highest dexterity, are presented, as well as detailed design and stiffness analysis. Results show the new robot has great potential for aiding the high precision eye surgical operations.

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KW - remote center of motion

KW - Kinematics

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Jian Y, Jin Y , Price M, Moore J. A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery. In 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob). Institute of Electrical and Electronics Engineers Inc. 2020. p. 891-896. ( 2020 8th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob)). Epub 2020 Oct 15. doi: 10.1109/BioRob49111.2020.9224344

A new 7-degree-of-freedom 2-PRRRRR parallel remote center-of-motion robot for eye surgery

Abstract

Publication series

Conference

Keywords

Access to Document

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Student theses

Design and preliminary development of a conceptual robot mechanism for eye surgery

Cite this