@inproceedings{8ca8c845004c4346835ce0176fb55191,
title = "Design and kinematic analysis of a parallel robot with Remote Center of Motion for Minimally Invasive Surgery",
abstract = "A Remote Center of Motion (RCM) Robot can imitate medical operative of surgeons in Minimally Invasive Surgery (MIS) and improve surgical precision. Compared to serial robots, parallel robots are more compact, more isotropic and have better rigidity and accuracy. A design of a new type of RCM parallel robot is proposed in this paper, which including the robot mechanical structure, kinematics and optimization design. The workspace of the mechanism is derived from the inverse kinematics. The global performance index (GPI) is used as the performance evaluation index to optimize the structure design by the algorithm of Particle Swarm Optimization (PSO). The results of the paper are used to analysis the performance of robot to confirm the structure design, and prepare for prototype machining.",
keywords = "kinematics, optimization, parallel robot, remote center of motion, workspace",
author = "Zhenchuan Zhang and Hongjian Yu and Zhijiang Du",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 12th IEEE International Conference on Mechatronics and Automation, ICMA 2015 ; Conference date: 02-08-2015 Through 05-08-2015",
year = "2015",
month = sep,
day = "2",
doi = "10.1109/ICMA.2015.7237570",
language = "英语",
series = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "698--703",
booktitle = "2015 IEEE International Conference on Mechatronics and Automation, ICMA 2015",
address = "美国",
}