Design and Kinematic Analysis of Remote Center-of-motion Mechanism for Endoscopic Surgical Robot System
The remote center-of-motion mechanism is an important component of the endoscopic surgical robot system,which affects the overall motion performance of the system and the selection of other components.Based on the clinical needs of laparoscopic surgery,an analysis of the design criteria for the centrifugal mechanism is conducted,and a centrifugal mechanism based on a dual parallel quadrilateral structure is designed.This mechanism utilizes a dual synchronous belt transmission and optimizes the traditional four-bar linkage mechanism to enhance its load-bearing capacity.It also addresses the issue of low positioning accuracy at the end of the dual synchronous belt transmission mechanism.Additionally,the mechanical structure and implementation forms of the rolling joint,swinging joint,and translational joint are designed.The kinematic characteristics of the centrifugal mechanism are studied,including solving forward and inverse kinematics,velocity Jacobian transformation matrices,and workspace analysis.Through the above calculation and analysis,it can be proved that the correctness of the designed telecentric mechanism and the stability of the end of the mechanism,and the two degrees of freedom of roll and swing move up and down between±60°,meeting the design requirements,indicating that the telecentric mechanism can meet the requirements of minimally invasive surgery related technologies.
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