Jacobian Analysis of a Fully Decoupled Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Central Point ◽  
Special Structure ◽  
Jacobian Matrices ◽  
Singular Configurations ◽  
Reachable Workspace

This paper presents the Jacobian analysis of a parallel manipulator that has a fully decoupled 4-DOF remote center-of-motion for application in minimally invasive surgery. Owing to the special structure of the manipulator, the Jacobian matrix of the manipulator is expressed as a combination of three special Jacobian matrices, namely the Jacobian of motion space, Jacobian of constraints, and Jacobian of actuations. Based on these Jacobian matrices, the singular configurations of the manipulator are then identified. It shows that the configuration singularity only exists at the central point and the boundary of the reachable workspace of the manipulator.

A Fully Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2011 ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Robots ◽  
Reachable Workspace ◽  
Surgical Tool ◽  
Decoupled Motion ◽  
Tool Motion

In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a critical design challenge for surgical robots. However, although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) RCM mechanism is still highly anticipated. In this paper, a 4-DOF parallel manipulator with a fully decoupled RCM is presented. First, the kinematic structure of the manipulator is described. Then, the fully decoupled motion, i.e., each of the four DOFs of the end-effector can be independently controlled by one corresponding actuated joint, is verified. Further, the inverse kinematics solutions are derived and the reachable workspace of tool tip is analyzed. As a result, the proposed manipulator is a feasible candidate for providing a fully decoupled surgical tool motion for minimally invasive surgery.

Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2012 ◽  
Vol 6 (2) ◽  
Author(s):  
Chin-Hsing Kuo ◽  
Jian S. Dai
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Inverse Kinematics ◽  
Parallel Manipulator ◽  
Degrees Of Freedom ◽  
Surgical Instruments ◽  
End Effector ◽  
Minimally Invasive Surgical ◽  
Inverse Kinematics Problem

A crucial design challenge in minimally invasive surgical (MIS) robots is the provision of a fully decoupled four degrees-of-freedom (4-DOF) remote center-of-motion (RCM) for surgical instruments. In this paper, we present a new parallel manipulator that can generate a 4-DOF RCM over its end-effector and these four DOFs are fully decoupled, i.e., each of them can be independently controlled by one corresponding actuated joint. First, we revisit the remote center-of-motion for MIS robots and introduce a projective displacement representation for coping with this special kinematics. Next, we present the proposed new parallel manipulator structure and study its geometry and motion decouplebility. Accordingly, we solve the inverse kinematics problem by taking the advantage of motion decouplebility. Then, via the screw system approach, we carry out the Jacobian analysis for the manipulator, by which the singular configurations are identified. Finally, we analyze the reachable and collision-free workspaces of the proposed manipulator and conclude the feasibility of this manipulator for the application in minimally invasive surgery.

Development of a new 3-DOF parallel manipulator for minimally invasive surgery

2018 ◽  
Vol 14 (3) ◽  
pp. e1901 ◽  
Author(s):  
Alaa Khalifa ◽  
Mohamed Fanni ◽  
Abdelfatah M. Mohamed ◽  
Tomoyuki Miyashita
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Parallel Manipulator

Delta robot: Inverse, direct, and intermediate Jacobians

2006 ◽  
Vol 220 (1) ◽  
pp. 103-109 ◽  
Author(s):  
M López ◽  
E Castillo ◽  
G García ◽  
A Bashir
Keyword(s):  
Kinematic Analysis ◽  
Parallel Manipulator ◽  
Jacobian Matrix ◽  
Kinematic Chain ◽  
End Effector ◽  
Jacobian Matrices ◽  
Singular Configurations ◽  
Delta Robot ◽  
Intermediate Jacobian

In the context of a parallel manipulator, inverse and direct Jacobian matrices are known to contain information which helps us identify some of the singular configurations. In this article, we employ kinematic analysis for the Delta robot to derive the velocity of the end-effector in terms of the angular joint velocities, thus yielding the Jacobian matrices. Setting their determinants to zero, several undesirable postures of the manipulator have been extracted. The analysis of the inverse Jacobian matrix reveals that singularities are encountered when the limbs belonging to the same kinematic chain lie in a plane. Two of the possible configurations which correspond to this condition are when the robot is completely extended or contracted, indicating the boundaries of the workspace. Singularities associated with the direct Jacobian matrix, which correspond to relatively more complicated configurations of the manipulator, have also been derived and commented on. Moreover, the idea of intermediate Jacobian matrices have been introduced that are simpler to evaluate but still contain the information of the singularities mentioned earlier in addition to architectural singularities not contemplated in conventional Jacobians.

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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