Kinematic analysis of a hybrid delta- remote center of motion (RCM) robot assisting minimally invasive surgery

Abstract

Minimally Invasive Surgery (MIS) is the latest trend of surgery in which the surgical operation is done through small incisions. This type of surgery has more advantages than conventional surgery such as shorter and less painful recovery, being less invasive, safer... However, there are some disadvantages associated with MIS such as limited field of view by using endoscopes and limiting motion of surgical tools. In order to overcome these disadvantages of MIS, almost of all existing robotics that assist in Minimal invasive surgery, have the Remote Center Motion mechanisms. This paper presents an overview of some typical Remote Center of Motion (RCM) mechanisms with graphical result conducted through simulation on ADAMS VIEW and kinematic analysis of a compact hybrid Delta – RCM robot that is developed for assisting physicians in performing MIS.