Remote Center of Motion (RCM) Mechanisms for Surgical Operations

Authors

  • Serhat AKSUNGUR

DOI:

https://doi.org/10.18100/ijamec.84097

Keywords:

RCM mechanisms, Surgical robots, Parallel surgical mechanisms, Spherical surgical mechanisms, Hybrid surgical mechanisms

Abstract

Nowadays, surgical applications, entering the body through a small incision with laparoscopic procedures are performed and are expanding the use of robots for these operations. In existing systems, conventional robots are used for the body. Surgical procedure is carried out by a separate mechanism which is attached to the end of the robot and robot is used to positioning this mechanism. These mechanisms are called Remote Center of Motion (RCM) mechanism. In this paper, the literature on studies performed about the parallel, spherical and hybrid RCM mechanisms are examined and classified.

Downloads

Download data is not yet available.

References

P. Xu, Y. Jingjun, and B. S. Z. Guanghua, “Enumeration and Type Synthesis of One-DOF Remote-Center-of-Motion Mechanisms,” in 12th IFToMM World Congress, , 2007, p.1

M. Hadavand, A. Mirbagheri, H. Salarieh, and F. Farahmand, “Design of a Force-Reflective Master Robot for Haptic Telesurgery Applications: RoboMaster1” in 33rd Annual International Conference, 2011, p. 7037-7040.

J. Li, S. Wang, X. Wang, C. He, and L. Zhang, “Development of a Novel Mechanism for Minimally Invasive Surgery”, in International Conference on Robotics and Biomimetics, 2010, p. 1370-1375.

M. A. Laribi, T. Riviere, M. Arsicault, and S. Zeghloul, “A design of slave surgical robot based on motion capture” in International Conference on Robotics and Biomimetics, 2012, p. 600-605.

S-K. Kim, W-H. Shin, S-Y. Ko, J. Kim, and D-S. Kwon, “Design of a Compact 5-DOF Surgical Robot of a Spherical Mechanism: CURES”, in International Conference on Advanced Intelligent Mechatronics, 2008, p. 990-995.

B. Hannaford, J. Rosen, D. W. Friedman, H. King, P. Roan, L. Cheng, D. Glozman, J. Ma, S. N. Kosari, and L. White, “Raven-II: An Open Platform for Surgical Robotics Research” ; IEEE Transactions On Biomedical Engıneering, Vol. 60, No. 4, pp. 954-959, April 2013.

J. S. Won, S. W. Choi, and W. Peine, “Curved RCM of Surgical Robot Arm”, Patent WO 2009/104853 A1, Aug. 27,200

M. J. H. Lum, J. Rosen, M. N. Sinanan, and B. Hannaford, “Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot: Theoretical and Experimental Approaches” Engıneering, Vol. 53, No. 7, pp. 1440-1445, July 2006.

S-E. Song, J. Tokuda, K. Tuncali, A. Yamada, M. Torabi, and N. Hata, “Design Evaluation of a Double Ring RCM Mechanism for Robotic Needle Guidance in MRI-guided Liver Interventions”, in International Conference on Intelligent Robots and Systems (IROS), 2013, p.4078-4083.

J. K. Hsu, T. Li, and S. Payandeh, “On Integration of a Novel Minimally Invasive Surgery Robotic System”, IEEE, 2005, p. 437-444.

J. M. Sabater, N. Garcia, C. Perez, L. M. Lopez, and F. J. Badesa, “A new spherical wrist for minimally invasive robotic surgery”, in ISR / Robotik, 2010, p. 1026-1031.

L. Ramrath, U. G. Hofmann, A. Schweikard, “Spherical Assistant for Stereotactic Surgery” in International Conference on Intelligent Robots and Systems, 2007, p. 859- 8

B. F. Yousef, and F. M. T. Aiash, “A Mechanism for Surgical Tool Manipulation”, IEEE, 2013.

M. A. Nasseri, M. Eder, D. Eberts, S. Nair, M. Maier, D. Zapp, C. P. Lohmann, and A. Knoll, “Kinematics and Dynamics Analysis Micromanipulator Designed for Biomedical Applications”, a in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2013, p.293-299.

A. Üneri, M. A. Balicki, J. Handa, P. Gehlbach, R. H. Taylor, and I. Iordachita, “New Steady-Hand Eye Robot with Micro- Force Sensing for Vitreoretinal Surgery”, in 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2010, p.814-819.

Downloads

Published

30-03-2015

Issue

Section

Research Articles

How to Cite

[1]
“Remote Center of Motion (RCM) Mechanisms for Surgical Operations”, J. Appl. Methods Electron. Comput., vol. 3, no. 2, pp. 119–126, Mar. 2015, doi: 10.18100/ijamec.84097.

Similar Articles

31-40 of 48

You may also start an advanced similarity search for this article.