Erratum: “Kinematic Design of a Novel Two Degree-of-Freedom Parallel Mechanism for Minimally Invasive Surgery” [ASME J. Mech. Des., 2019, 141(10), p. 104501; DOI: 10.1115/1.4043583]

2020 ◽  
Vol 143 (1) ◽  
Author(s):  
Wen-ao Cao ◽  
Shi-jie Xu ◽  
Kun Rao ◽  
Tengfei Ding
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Parallel Mechanism ◽  
Degree Of Freedom ◽  
Kinematic Design ◽  
Two Degree Of Freedom

Kinematic Design of a Novel Two Degree-of-Freedom Parallel Mechanism for Minimally Invasive Surgery

2019 ◽  
Vol 141 (10) ◽  
Author(s):  
Wen-ao Cao ◽  
Shi-jie Xu ◽  
Kun Rao ◽  
Tengfei Ding
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Parallel Mechanism ◽  
Screw Theory ◽  
Degree Of Freedom ◽  
Compact Structure ◽  
Minimally Invasive Surgical ◽  
Physical Prototype ◽  
Two Degree Of Freedom ◽  
Surgical Manipulator

A novel two degree-of-freedom (2-DOF) parallel mechanism with remote center-of-motion (RCM) is proposed for minimally invasive surgical applications in this paper. A surgical manipulator with expected three-rotation and one-translation (3R1T) outputs can be obtained by serially connecting a revolute pair (R) and a prismatic pair (P) to the mechanism. First, kinematics of the new mechanism is analyzed and the corresponding velocity Jacobin matrix is established. Then, singularity identification of the mechanism is performed based on screw theory. Further, main dimensions of the mechanism are designed, and a physical prototype is developed to verify the effectiveness of executing RCM. The proposed mechanism has relatively simple kinematics, and can obtain a noninterference and nonsingularity cone workspace with the top angle of 60 deg based on a compact structure.

scholarly journals Inverted L-Arm Gripper Compliant Mechanism

2017 ◽  
Vol 11 (3) ◽  
Author(s):  
Jason Dearden ◽  
Clayton Grames ◽  
Brian D. Jensen ◽  
Spencer P. Magleby ◽  
Larry L. Howell
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Mechanical Advantage ◽  
Bending Stresses ◽  
Materials Used ◽  
Work First ◽  
Two Degree Of Freedom

This work exploits the advantages of compliant mechanisms (devices that achieve their motion through the deflection of flexible members) to enable the creation of small instruments for minimally invasive surgery (MIS). Using flexures to achieve motion presents challenges, three of which are considered in this work. First, compliant mechanisms generally perform inadequately in compression. Second, for a ±90deg range of motion desired for each jaw, the bending stresses in the flexures are prohibitive considering materials used in current instruments. Third, for cables attached at fixed points on the mechanism, the mechanical advantage will vary considerably during actuation. Research results are presented that address these challenges using compliant mechanism principles as demonstrated in a two-degree-of-freedom (2DoF) L-Arm gripper.

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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