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Jacobian Analysis of a Fully Decoupled 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. DETC2012-70579, pp. 49-54; 6 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


This paper presents the Jacobian analysis of a parallel manipulator that has a fully decoupled 4-DOF remote center-of-motion for application in minimally invasive surgery. Owing to the special structure of the manipulator, the Jacobian matrix of the manipulator is expressed as a combination of three special Jacobian matrices, namely the Jacobian of motion space, Jacobian of constraints, and Jacobian of actuations. Based on these Jacobian matrices, the singular configurations of the manipulator are then identified. It shows that the configuration singularity only exists at the central point and the boundary of the reachable workspace of the manipulator.

Copyright © 2012 by ASME
Topics: Surgery , Manipulators



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