关键词: 仿图仪机构, 刚体运动跟踪机构, 型综合, 远程运动中心机构

Abstract: The remote center of motion (RCM) mechanism is an important component of a minimally invasive surgery (MIS) robot. Current research on RCM mechanisms rarely takes the translation of the mechanism into consideration. Usually a linear actuator is added to the end to realize the translation, which reduces the stiffness of the mechanism and occupies much space near the end-effector. An approach to construct 1R1T-RCM mechanisms from pantograph mechanisms is presented. Pantograph mechanisms are divided into seven classifications. The concept of the rigid motion tracking mechanism is proposed by combining two arbitrary equivalent pantograph mechanisms. On this basis, a novel type synthesis method for 1R1T-RCM mechanisms is introduced in detail, and it shows that a 1R1T-RCM mechanism can be constructed by assembling a rigid motion tracking mechanism and a 1R1T mechanism. Through this method, several examples are shown accordingly, some of which have compact structures and can be used in MIS robots.

Key words: pantograph mechanism, remote center of motion mechanism, rigid motion tracking mechanism, type synthesis