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A Fully Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

[+] Author Affiliations
Chin-Hsing Kuo

National Taiwan University of Science and Technology, Taipei, Taiwan

Jian S. Dai

King’s College London, London, UK

Paper No. DETC2011-48053, pp. 623-632; 10 pages
  • ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B
  • Washington, DC, USA, August 28–31, 2011
  • Conference Sponsors: Design Engineering Division and Computers and Information in Engineering Division
  • ISBN: 978-0-7918-5483-9
  • Copyright © 2011 by ASME


In robotically-assisted minimally invasive surgery (MIS), the provision of a decoupled remote center-of-motion (RCM) kinematics is a critical design challenge for surgical robots. However, although there have been numerous RCM robots developed, a fully decoupled four-degrees-of-freedom (DOF) RCM mechanism is still highly anticipated. In this paper, a 4-DOF parallel manipulator with a fully decoupled RCM is presented. First, the kinematic structure of the manipulator is described. Then, the fully decoupled motion, i.e., each of the four DOFs of the end-effector can be independently controlled by one corresponding actuated joint, is verified. Further, the inverse kinematics solutions are derived and the reachable workspace of tool tip is analyzed. As a result, the proposed manipulator is a feasible candidate for providing a fully decoupled surgical tool motion for minimally invasive surgery.

Copyright © 2011 by ASME



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