TY - GEN
T1 - Mechanical Design and Workspace Optimization of a Flexible Parallel Manipulator for Minimally Invasive Surgery
AU - Zhou, Zihan
AU - Shi, Fengyi
AU - Li, Zhuoheng
AU - Li, Jiaxun
AU - Zhang, Runtian
AU - Qian, Chao
AU - Duan, Xingguang
AU - Li, Changsheng
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - Minimally invasive surgery (MIS) provides adequate benefits such as less trauma, higher safety and shorter recovery cycle. However, the limited dexterity in small size and low load capacity of current surgical robots prevents its development. This paper proposes a flexible surgical manipulator with a two-stage 3-PRS mechanism. The mechanical design of the manipulator is described in detail and the kinematic model is established. The analytical expression of the inverse kinematics solution of the proposed mechanism is derived by solving the motion equation. Based on the inverse kinematics solution, the reachable workspace of the manipulator is achieved, considering the geometric constraints. The influence of main parameters of the proposed manipulator on its reachable workspace is explained via parameter analysis. Results show that these parameters of the radius of the platforms and the length of the connecting links are related to the reachable workspace of the manipulator. Furthermore, a mechanism prototype is presented and the working principle of the parallel mechanism is verified.
AB - Minimally invasive surgery (MIS) provides adequate benefits such as less trauma, higher safety and shorter recovery cycle. However, the limited dexterity in small size and low load capacity of current surgical robots prevents its development. This paper proposes a flexible surgical manipulator with a two-stage 3-PRS mechanism. The mechanical design of the manipulator is described in detail and the kinematic model is established. The analytical expression of the inverse kinematics solution of the proposed mechanism is derived by solving the motion equation. Based on the inverse kinematics solution, the reachable workspace of the manipulator is achieved, considering the geometric constraints. The influence of main parameters of the proposed manipulator on its reachable workspace is explained via parameter analysis. Results show that these parameters of the radius of the platforms and the length of the connecting links are related to the reachable workspace of the manipulator. Furthermore, a mechanism prototype is presented and the working principle of the parallel mechanism is verified.
KW - Bowden cable
KW - Flexible parallel manipulator
KW - minimally invasive surgery (MIS)
KW - variable stiffness (VS)
UR - http://www.scopus.com/inward/record.url?scp=85147325679&partnerID=8YFLogxK
U2 - 10.1109/ROBIO55434.2022.10011897
DO - 10.1109/ROBIO55434.2022.10011897
M3 - Conference contribution
AN - SCOPUS:85147325679
T3 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
SP - 272
EP - 277
BT - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE International Conference on Robotics and Biomimetics, ROBIO 2022
Y2 - 5 December 2022 through 9 December 2022
ER -