Department of Mechanical Engineering, National Taiwan University of Science and Technology, Taipei 106, Taiwan.
Int J Med Robot. 2012 Jun;8(2):127-45. doi: 10.1002/rcs.453. Epub 2012 Jan 9.
Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities.
Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic design considerations and mechanism development described in the literature for existing robots are focused on.
The general kinematic design goals, design requirements, and design preferences for MIS robots are defined. An MIS-specialized mechanism, namely the remote center-of-motion (RCM) mechanism, is revisited and studied. Accordingly, based on the RCM mechanism types, a classification for MIS robots is provided. A comparison between eight different RCM types is given. Finally, several open challenges for the kinematic design of MIS robotic manipulators are discussed.
This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community.
运动学设计是微创外科 (MIS) 机器人设计的主要阶段。然而，机制和机器人领域都还没有对 MIS 机器人的运动学设计问题进行广泛的概述。
对数百篇关于 MIS 机器人的存档报告和文章进行了回顾和研究。特别是，重点关注文献中描述的现有机器人的运动学设计考虑因素和机构开发。
定义了 MIS 机器人的一般运动学设计目标、设计要求和设计偏好。重新审视并研究了一种特殊的 MIS 机构，即远程运动中心 (RCM) 机构。相应地，根据 RCM 机构类型，提供了一种用于 MIS 机器人的分类。最后，还比较了八种不同的 RCM 类型。最后，讨论了 MIS 机器人运动学设计的几个开放性挑战。
这项工作对 MIS 机器人的运动学设计进行了详细的调查，为运动学研究人员解决了 MIS 机器人的研究机会，并阐明了 MIS 机器人的运动学观点，为医疗界提供了参考。
