Type synthesis of 2R1T remote center of motion parallel mechanisms with a passive limb for minimally invasive surgical robot
In view of the demands for medical imaging compatibility and efficient space occupation
around the surgical site, this paper proposes remote center of motion (RCM) parallel …
around the surgical site, this paper proposes remote center of motion (RCM) parallel …
Kinematic analysis and optimum design of a novel 2PUR-2RPU parallel robot
Abstract A three-dof 2PUR-2RPU redundantly-actuated parallel-kinematics machine,
designed for the machining of complex curved surfaces that require high-speed and high …
designed for the machining of complex curved surfaces that require high-speed and high …
Design and experimental investigation of a new 2R1T overconstrained parallel kinematic machine with actuation redundancy
Two rotations and one translation (2R1T) parallel kinematic machines (PKMs) are suitable
for the machining of complex curved surfaces, which requires high speed and precision. To …
for the machining of complex curved surfaces, which requires high speed and precision. To …
Kinematic design of a non-parasitic 2R1T parallel mechanism with remote center of motion to be used in minimally invasive surgery applications
In minimally invasive surgery applications, the use of robotic manipulators is becoming more
and more common to enhance the precision of the operations and post-operative processes …
and more common to enhance the precision of the operations and post-operative processes …
Kinematic design of a novel two degree-of-freedom parallel mechanism for minimally invasive surgery
W Cao, S Xu, K Rao, T Ding - Journal of …, 2019 - asmedigitalcollection.asme.org
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 …
(RCM) is proposed for minimally invasive surgical applications in this paper. A surgical …
Type synthesis of novel 1R, 2R, 1R1T, and 2R1T hybrid RCM mechanisms based on topological arrangement and modular design method
Remote center motion (RCM) mechanisms play a significant role in minimally invasive
surgery (MIS) to provide geometric constraints to the surgical tool motion. To satisfy the rapid …
surgery (MIS) to provide geometric constraints to the surgical tool motion. To satisfy the rapid …
Partial gravity compensation of a surgical robot
OW Maaroof, SZ Saeed… - International Journal of …, 2021 - journals.sagepub.com
Surgical robots are safety-critical devices that require multiple domains of safety features.
This article focuses on the passive gravity compensation design optimization of a surgical …
This article focuses on the passive gravity compensation design optimization of a surgical …
Design of a teleoperation scheme with a wearable master for minimally invasive surgery
Minimally invasive surgery is increasingly being preferred over conventional surgery,
however many problems still persist in longer surgeries such as pituitary surgeries, where …
however many problems still persist in longer surgeries such as pituitary surgeries, where …
Effects of uncertainties in the launch parameters on the pressure-equalizing air film around a vertically launched underwater vehicle
G Ma, F Chen, J Yu, K Wang… - Journal of Fluids …, 2019 - asmedigitalcollection.asme.org
Many uncertain factors in the water-emerging process of a vehicle influence the taking effect
of the air film around its shoulder in the load reduction and attitude control. Assuming the …
of the air film around its shoulder in the load reduction and attitude control. Assuming the …
A new family of double-stage parallel mechanisms with movable RCM
X Lv, F Ye, K Wang, H Sun, Y Cao - Robotica, 2024 - cambridge.org
Remote center-of-motion (RCM) manipulators are a key issue in minimally invasive
surgeries (MIS). The existing RCM parallel mechanisms (PMs) can only generate RCM …
surgeries (MIS). The existing RCM parallel mechanisms (PMs) can only generate RCM …