Design and Kinematics Analysis of a Serial-parallel Hybrid Mechanism Used for Intraocular Surgeries

doi:10.3901/JME.2022.03.036

Abstract

Abstract: To realize RCM (remote center of motion) motion mode required for robot-assisted intraocular surgeries, a novel six-degree-of-freedom series-parallel hybrid mechanism (RP+PPRRP/PPRR) is proposed. Firstly, inspired by the structure of U pair (Universal pair), the parallel configuration (PPRRP/PPRR) is reconstructed by two sets of planar five-bar mechanism (RPPRP) units. After calculating the DOFs (degrees of freedom) and analyzing their characteristics based on screw theory, the capability of RCM motion mode for this mechanism is confirmed. Subsequently, the forward kinematics model and the inverse kinematics model of this mechanism containing RCM parameters are established through coordinate transformation method. Then, according to the configuration of the mechanism, a physical prototype is designed and established. Finally, based on master-slave control method, a motion experiment is performed to verify the correctness of the kinematic model and the adaptability of this mechanism to intraocular surgeries.

Key words: intraocular surgery, hybrid mechanism, kinematics analysis, remote center of motion

CLC Number:

TH112

YANG Yang, CHEN Zilu, GUANG Chenhan, ZHENG Yu, LIN Chuang. Design and Kinematics Analysis of a Serial-parallel Hybrid Mechanism Used for Intraocular Surgeries[J]. Journal of Mechanical Engineering, 2022, 58(3): 36-44.

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