Optimization and preoperative adjustment design of remote center motion mechanism for minimally invasive surgical robot

Abstract

In this paper, a new remote center motion (RCM) mechanism called triangle is proposed; this mechanism is simple and with high stiffness. A complete kinematic analysis and optimization algorithm implying AHP which is a combination of quantitative and qualitative analysis method incorporating the requirements for minimally invasive surgery (MIS) are performed to find the optimal link lengths of the manipulator. The results show that for the serial triangle two-link manipulator used to guide the surgical tool, the optimization link angles are 74° and 51°. Prior preoperative adjustment is usually realized by electromagnetic clutch. However, the disadvantage of this method is that the joint is complex, big, and heavy because of gravity balance mechanism. A new preoperative adjustment method realized by resistance compensation is proposed without electromagnetic clutch; the joint is simpler and lighter than the conventional joint.