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IFToMM Asian conference on Mechanism and Machine Science

International Conference on Mechanism and Machine Science

ASIAN MMS 2016, CCMMS 2016: Mechanism and Machine Science pp 183–194Cite as

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

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Part of the book series: Lecture Notes in Electrical Engineering ((LNEE,volume 408))

Abstract

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.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Shanghai University of Engineering Science, Shanghai, China

    Fan Zhang, Xue Zhang & Lubin Hang

  2. School of Electronic Information and Electrical Engnieering, Shanghai Jiao Tong University, Shanghai, China

    Cunyue Lu

  3. Department of Mechanical Engineering, Virginia Tech, Blackburg, USA

    Tomonari Furukawa

Authors
  1. Fan Zhang
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  2. Xue Zhang
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  3. Lubin Hang
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  4. Cunyue Lu
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  5. Tomonari Furukawa
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Corresponding author

Correspondence to Fan Zhang .

Editor information

Editors and Affiliations

  1. South China University of Technology , Guangzhou, China

    Xianmin Zhang

  2. South China University of Technology , Guangzhou, China

    Nianfeng Wang

  3. South China University of Technology , Guangzhou, China

    Yanjiang Huang

Appendix

Appendix

Figures 7 and 8 show that the surgical arms with remote actuated configuration have the capability of inserting along the tool spindle axis and remote center motion.

Fig. 7
figure 7

The kinematic simulation of 1-parallelogram-based 1R1T remote actuated surgical arms: a and b show that the surgical arm can achieve the RCM. c and d show that the surgical arm can achieve the inserting motion

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Fig. 8
figure 8

The kinematic simulation of 1-parallelogram-based 1R1T remote actuated surgical arms: a and b show that the surgical arm can achieve the RCM. c and d show that the surgical arm can achieve the inserting motion

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© 2017 Springer Nature Singapore Pte Ltd.

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Zhang, F., Zhang, X., Hang, L., Lu, C., Furukawa, T. (2017). Type Synthesis of N-Parallelogram-Based Surgical Arm with Remote Actuated Configuration. In: Zhang, X., Wang, N., Huang, Y. (eds) Mechanism and Machine Science . ASIAN MMS CCMMS 2016 2016. Lecture Notes in Electrical Engineering, vol 408. Springer, Singapore. https://doi.org/10.1007/978-981-10-2875-5_16

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  • DOI: https://doi.org/10.1007/978-981-10-2875-5_16

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-2874-8

  • Online ISBN: 978-981-10-2875-5

  • eBook Packages: EngineeringEngineering (R0)

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