This paper presents a novel mechanism concept of laparoscope holders used for minimally invasive surgery (MIS). The mechanism is made of a parallelogram linkage and a parallel mechanism, which, respectively, serve as a robotic positioning arm and an orientating wrist of the holder. Due to its special geometry, the mechanism possesses several interesting kinematic properties. First, the laparoscope, which is held by the end-effector, can illustrate a remote center-of-motion (RCM) kinematics at the surgical incision point. Second, the position of the RCM point is solely defined by the parallelogram, whereas the orientation and insertion length of the laparoscope are governed by the parallel mechanism. Such an arrangement suggests a decoupled positioning and orientating manipulation for the holder, which is clinically helpful in laparoscopic MIS. Third, the overall mechanism including the parallelogram linkage and the parallel mechanism can be statically balanced at any configuration within the workspaces by using common linear springs. In other words, no electrical actuation or mechanical locks are required for making the laparoscope rest at any position and orientation. The design procedure for static balancing is detailed in the paper, and the theoretical formulation of the statically balanced mechanism is verified by a numerical example and computer simulation. The computer-aided design (CAD) model of the holder is constructed for evaluating its workspace and a physical prototype using commercial springs is built up and tested. It shows that the prototype that uses nonideal (commercial) springs can be statically balanced within the overall workspace, since the shortage/overshoot of the potential energy in the positioning mechanism and orientating mechanism, which are theoretically 6.8% and 5.1% of their total potential energies in maximum, are fully compensated by the friction effect.

Issue Section:
Design Innovation Paper
Keywords:
static balancing, endoscopy holder, surgical robot, surgical instrument, remote center-of-motion, decoupled motion, parallel manipulator, parallelogram
Topics:
Design, Laparoscopic devices, Potential energy, Springs, Surgery, Kinematics, End effectors, Engineering prototypes

References

1.
Intuitive Surgical, Inc., Sunnyvale, CA, http://www.intuitivesurgical.com
2.
Finlay
,
P. A.
, and
Ornstein
,
M. H.
,
1995
, “
Controlling the Movement of a Surgical Laparoscope
,”
IEEE Eng. Med. Biol. Mag.
,
14
(
3
), pp.
289
–
291
.
3.
Dowler
,
N. J.
, and
Holland
,
S. R. J.
,
1996
, “
The Evolutionary Design of an Endoscopic Telemanipulator
,”
IEEE Rob. Autom. Mag.
,
3
(
4
), pp.
38
–
45
.
4.
Yasunaga
,
T.
,
Hashizume
,
M.
,
Kobayashi
,
E.
,
Tanoue
,
K.
,
Akahoshi
,
T.
,
Konishi
,
K.
,
Yamaguchi
,
S.
,
Kinjo
,
N.
,
Tomikawa
,
M.
,
Muragaki
,
Y.
,
Shimada
,
M.
,
Maehara
,
Y.
,
Dohi
,
Y.
,
Sakuma
,
I.
, and
Miyamoto
,
S.
,
2003
, “
Remote-Controlled Laparoscope Manipulator System, Naviot™, for Endoscopic Surgery
,”
17th International Congress on Computer Assisted Radiology and Surgery
(
CARS
), London, June 25-28, Vol.
1256
, pp.
678
–
683
.
5.
Polet
,
R.
, and
Donnez
,
J.
,
2008
, “
Using a Laparoscope Manipulator (LAPMAN) in Laparoscopic Gynecological Surgery
,”
Surg. Technol. Int.
,
17
, pp.
187
–
191
.
6.
Hourlay
,
P.
,
2006
, “
How to Maintain the Quality of Laparoscopic Surgery in the Era of Lack of Hands?
,”
Acta Chir. Belg.
,
106
(
1
), pp.
22
–
26
.
7.
Buess
,
G. F.
,
Arezzo
,
A.
,
Schurr
,
M. O.
,
Ulmer
,
F.
,
Fisher
,
H.
,
Gumb
,
L.
,
Testa
,
T.
, and
Nobman
,
C.
,
2000
, “
A New Remote-Controlled Endoscope Positioning System for Endoscopic Solo Surgery: The FIPS Endoarm
,”
Surg. Endoscopy
,
14
(
4
), pp.
395
–
399
.
8.
EndoControl, Inc., Dover, DE, http://www.endocontrol-medical.com
9.
Berkelman
,
P.
,
Boidard
,
E.
,
Cinquin
,
P.
, and
Troccaz
,
J.
,
2003
, “
LER: The Light Endoscope Robot
,”
IEEE/RSJ International Conference on Intelligent Robots and Systems
(
IROS 2003
), Las Vegas, NV, Oct. 27–31, pp.
2835
–
2840
.
10.
Zemiti
,
N.
,
Morel
,
G.
,
Ortmaier
,
T.
, and
Bonnet
,
N.
,
2007
, “
Mechatronic Design of a New Robot for Force Control in Minimally Invasive Surgery
,”
IEEE/ASME Trans. Mechatron.
,
12
(
2
), pp.
143
–
153
.
11.
Marina Medical, Sunrise, FL, http://marinamedical.com
12.
GEOMED Medizin-Technik, Tuttlingen, Germany, http://www.geomed.de
13.
Aesculap, Inc., Center Valley, PA, http://www.aesculapusa.com
14.
MIKROLAND Endobloc Company, Rue du Pâtis, France, http://www.mikroland-endobloc.fr
15.
Schurr
,
M. O.
,
Arezzo
,
A.
,
Neisius
,
B.
,
Rininsland
,
H.
,
Hilzinger
,
H.-U.
,
Dorn
,
J.
,
Roth
,
K.
, and
Buess
,
G. F.
,
1999
, “
Trocar and Instrument Positioning System TISKA: An Assist Device for Endoscopic Solo Surgery
,”
Surg. Endoscopy
,
13
(
5
), pp.
528
–
531
.
16.
Wang
,
J.
, and
Gosselin
,
C. M.
,
2000
, “
Static Balancing of Spatial Four-Degree-of-Freedom Parallel Mechanisms
,”
Mech. Mach. Theory
,
35
(
4
), pp.
563
–
592
.
17.
Wang
,
J. G.
, and
Gosselin
,
C. M.
,
1999
, “
Static Balancing of Spatial Three-Degree-of-Freedom Parallel Mechanisms
,”
Mech. Mach. Theory
,
34
(
3
), pp.
437
–
452
.
18.
Laliberté
,
T.
,
Gosselin
,
C. M.
, and
Jean
,
M.
,
1999
, “
Static Balancing of 3-DOF Planar Parallel Mechanisms
,”
IEEE/ASME Trans. Mechatron.
,
4
(
4
), pp.
363
–
377
.
19.
Russo
,
A.
,
Sinatra
,
R.
, and
Xi
,
F.
,
2005
, “
Static Balancing of Parallel Robots
,”
Mech. Mach. Theory
,
40
(
2
), pp.
191
–
202
.
20.
Agrawal
,
S. K.
, and
Fattah
,
A.
,
2004
, “
Reactionless Space and Ground Robots: Novel Designs and Concept Studies
,”
Mech. Mach. Theory
,
39
(
1
), pp.
25
–
40
.
21.
Nathan
,
R. H.
,
1985
, “
A Constant Force Generation Mechanism
,”
ASME J. Mech., Transm. Autom. Des.
,
107
(
4
), pp.
508
–
512
.
22.
Rahman
,
T.
,
Ramanathan
,
R.
,
Seliktar
,
R.
, and
Harwin
,
W.
,
1995
, “
Simple Technique to Passively Gravity-Balance Articulated Mechanisms
,”
ASME J. Mech. Des.
,
117
(
4
), pp.
655
–
658
.
23.
Ebert-Uphoff
,
I.
,
Gosselin
,
C. M.
, and
Laliberté
,
T.
,
2000
, “
Static Balancing of Spatial Parallel Platform Mechanisms-Revisited
,”
ASME J. Mech. Des.
,
122
(
1
), pp.
43
–
51
.
24.
Deepak
,
S. R.
, and
Ananthasuresh
,
G. K.
,
2012
, “
Perfect Static Balance of Linkages by Addition of Springs But Not Auxiliary Bodies
,”
ASME J. Mech. Rob.
,
4
(
2
), p.
021014
.
25.
Herder
,
J. L.
,
1998
, “
Design of Spring Force Compensation Systems
,”
Mech. Mach. Theory
,
33
(
1–2
), pp.
151
–
161
.
26.
van Dorsser
,
W. D.
,
Barents
,
R.
,
Wisse
,
B. M.
, and
Herder
,
J. L.
,
2007
, “
Gravity-Balanced Arm Support With Energy-Free Adjustment
,”
ASME J. Med. Devices
,
1
(
2
), pp.
151
–
158
.
27.
van Dorsser
,
W. D.
,
Barents
,
R.
,
Wisse
,
B. M.
,
Schenk
,
M.
, and
Herder
,
J. L.
,
2008
, “
Energy-Free Adjustment of Gravity Equilibrators by Adjusting the Spring Stiffness
,”
Proc. Inst. Mech. Eng., Part C
,
222
(
9
), pp.
1839
–
1846
.
28.
Barents
,
R.
,
Schenk
,
M.
,
van Dorsser
,
W. D.
,
Wisse
,
B. M.
, and
Herder
,
J. L.
,
2011
, “
Spring-to-Spring Balancing as Energy-Free Adjustment Method in Gravity Equilibrators
,”
ASME J. Mech. Des.
,
133
(
6
), p.
061010
.
29.
Lin
,
P.-Y.
,
Shieh
,
W.-B.
, and
Chen
,
D.-Z.
,
2010
, “
Design of a Gravity-Balanced General Spatial Serial-Type Manipulator
,”
ASME J. Mech. Rob.
,
2
(
3
), p.
031003
.
30.
Lin
,
P.-Y.
,
Shieh
,
W.-B.
, and
Chen
,
D.-Z.
,
2010
, “
A Stiffness Matrix Approach for the Design of Statically Balanced Planar Articulated Manipulators
,”
Mech. Mach. Theory
,
45
(
12
), pp.
1877
–
1891
.
31.
Lin
,
P.-Y.
,
2012
, “
Design of Statically Balanced Spatial Mechanisms With Spring Suspensions
,”
ASME J. Mech. Rob.
,
4
(
2
), p.
021015
.
32.
Lin
,
P.-Y.
,
Shieh
,
W.-B.
, and
Chen
,
D.-Z.
,
2012
, “
Design of Statically Balanced Planar Articulated Manipulators With Spring Suspension
,”
IEEE Trans. Rob.
,
28
(
1
), pp.
12
–
21
.
33.
Lee
,
Y.-Y.
, and
Chen
,
D.-Z.
,
2014
, “
Determination of Spring Installation Configuration on Statically Balanced Planar Articulated Manipulators
,”
ASME J. Mech. Rob.
(in press).
34.
Agrawal
,
A.
, and
Agrawal
,
S. K.
,
2005
, “
Design of Gravity Balancing Leg Orthosis Using Non-Zero Free Length Springs
,”
Mech. Mach. Theory
,
40
(
6
), pp.
693
–
709
.
35.
Agrawal
,
S. K.
, and
Fattah
,
A.
,
2004
, “
Gravity-Balancing of Spatial Robotic Manipulators
,”
Mech. Mach. Theory
,
39
(
12
), pp.
1331
–
1344
.
36.
Banala
,
S. K.
,
Agrawal
,
S. K.
,
Fattah
,
A.
,
Krishnamoorthy
,
V.
,
Hsu
,
W. L.
,
Scholz
,
J.
, and
Rudolph
,
K.
,
2006
, “
Gravity-Balancing Leg Orthosis and Its Performance Evaluation
,”
IEEE Trans. Rob.
,
22
(
6
), pp.
1228
–
1239
.
37.
Eckenstein
,
N.
, and
Yim
,
M.
,
2013
, “
Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems
,”
ASME J. Mech. Rob.
,
5
(
4
), p.
041013
.
38.
Carricato
,
M.
, and
Gosselin
,
C.
,
2009
, “
A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation
,”
ASME J. Mech. Rob.
,
1
(
3
), p.
031005
.
39.
Taylor
,
R. H.
, and
Stoianovici
,
D.
,
2003
, “
Medical Robotics in Computer-Integrated Surgery
,”
IEEE Trans. Rob. Autom.
,
19
(
5
), pp.
765
–
781
.
40.
Kuo
,
C.-H.
,
Dai
,
J.-S.
, and
Dasgupta
,
P.
,
2012
, “
Kinematic Design Considerations for Minimally Invasive Surgical Robots: An Overview
,”
Int. J. Med. Rob. Comput. Assisted Surg.
,
8
(
2
), pp.
127
–
145
.
41.
Rosen
,
J.
,
Brown
,
J. D.
,
Chang
,
L.
,
Barreca
,
M.
,
Sinanan
,
M.
, and
Hannaford
,
B.
,
2002
, “
The BlueDRAGON—A System for Measuring the Kinematics and the Dynamics of Minimally Invasive Surgical Tools In-Vivo
,”
IEEE International Conference on Robotics and Automation
(
ICRA '02
), Washington, DC, May 11–15, Vol.
2
, pp.
1876
–
1881
.
42.
Baumann
,
R.
,
Maeder
,
W.
,
Glauser
,
D.
, and
Clavel
,
R.
,
1997
, “
The PantoScope: A Spherical Remote-Center-of-Motion Parallel Manipulator for Force Reflection
,”
IEEE International Conference on Robotics and Automation
, Albuquerque, NM, Apr. 20–25, pp.
718
–
723
.
43.
Vischer
,
P.
, and
Clavel
,
R.
,
2000
, “
Argos: A Novel 3-DoF Parallel Wrist Mechanism
,”
Int. J. Rob. Res.
,
19
(
1
), pp.
5
–
11
.
44.
Li
,
J.
,
Zhang
,
G.
,
Müller
,
A.
, and
Wang
,
S.
,
2013
, “
A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
,”
ASME J. Mech. Des.
,
135
(
9
), p.
091009
.
45.
Hadavand
,
M.
,
Mirbagheri
,
A.
,
Behzadipour
,
S.
, and
Farahmand
,
F.
,
2014
, “
A Novel Remote Center of Motion Mechanism for the Force-Reflective Master Robot of Haptic Tele-Surgery Systems
,”
Int. J. Med. Rob. Comput. Assisted Surg.
,
10
(
2
), pp.
129
–
139
.
46.
Kuo
,
C.-H.
, and
Dai
,
J. S.
,
2012
, “
Kinematics of a Fully-Decoupled Remote Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery
,”
ASME J. Med. Devices
,
6
(
2
), p.
021008
.
47.
Li
,
J.
,
Xing
,
Y.
,
Liang
,
K.
, and
Wang
,
S.
,
2015
, “
Kinematic Design of a Novel Spatial Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
,”
ASME J. Med. Devices
,
9
(
1
), p.
011003
.
48.
Lum
,
M. J. H.
,
Rosen
,
J.
,
Sinanan
,
M. N.
, and
Hannaford
,
B.
,
2004
, “
Kinematic Optimization of a Spherical Mechanism for a Minimally Invasive Surgical Robot
,”
IEEE International Conference on Robotics and Automation
(
ICRA '04
), New Orleans, LA, Apr. 26–May 1, Vol.
1
, pp.
829
–
834
.
49.
Kuo
,
C.-H.
, and
Lai
,
S.-J.
,
2014
, “
Design of a Novel Statically Balanced Mechanism for Laparoscope Holders With Decoupled Positioning and Orientating Manipulation
,”
ASME
Paper No. DETC2014-34711.
50.
Gosselin
,
C. M.
,
1999
, “
Static Balancing of Spherical 3-DoF Parallel Mechanisms and Manipulators
,”
Int. J. Rob. Res.
,
18
(
8
), pp.
819
–
829
.
51.
Gosselin
,
C. M.
, and
Wang
,
J.
,
1998
, “
On the Design of Gravity-Compensated Six-Degree-of-Freedom Parallel Mechanisms
,”
IEEE International Conference on Robotics and Automation
(
ICRA
), Leuven, Belgium, May 16–20, Vol.
3
, pp.
2287
–
2294
.
52.
Tsai
,
L.-W.
,
1999
,
Robot Analysis: The Mechanics of Serial and Parallel Manipulators
,
Wiley
,
New York
.
53.
Bagci
,
C
.,
1985
, “
Complete Balancing of Space Mechanisms—Shaking Force Balancing
,”
ASME J. Mech., Transm. Autom. Des.
,
105
(
4
), pp.
609
–
616
.
54.
MSC Software Co., Newport Beach, CA, http://www.mscsoftware.com/Products/CAE-Tools/MD-Adams.aspx
Copyright © 2016 by ASME
You do not currently have access to this content.