Abstract Remote center-of-motion (RCM) manipulators play an important role in minimally invasive surgery (MIS), which reduces the risk of infection, with less pain and fast recovery. In this paper, a novel spatial two-limb parallel manipulator, with 3R1T motion capabilities, supplied with a RCM, is synthesized for applications in MIS. The proposed manipulator consists of two identical limbs with a U RRH chain, in which fully decoupled parallel wrists are employed to actuate the universal joints. Moreover, a cable-driven mechanism is introduced to produce the translational and rotational motions of the end-effector about its central shaft. Because of this particular design, the synthesized RCM manipulator possesses a compact structure and is partially decoupled in kinematics, which eases the implementation and simplifies its control. In order to validate the feasibility of the proposed idea, a prototype of the synthesized RCM manipulator is developed and experiments are conducted. The results show that the four dof prototype exhibits acceptable 3R1T RCM characteristics and positioning accuracy, by virtue of the adopted fabrication procedures. Thus, the synthesized manipulator offers potential applications in MIS.

中文翻译：

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具有远程运动中心的空间双肢 3R1T 并联机械手的设计与验证

摘要 远程运动中心 (RCM) 机械手在微创手术 (MIS) 中发挥着重要作用，可降低感染风险，减少疼痛，恢复快。在本文中，合成了一种新型空间双肢平行机械手，具有 3R1T 运动能力，配备 RCM，用于 MIS 中的应用。拟议的机械手由两个相同的肢体和一个 U RRH 链组成，其中使用完全解耦的平行手腕来驱动万向节。此外，引入了电缆驱动机构以产生末端执行器围绕其中心轴的平移和旋转运动。由于这种特殊的设计，合成的 RCM 机械手具有紧凑的结构，并且在运动学上部分解耦，从而简化了实现并简化了其控制。为了验证所提出的想法的可行性，开发了合成 RCM 机械手的原型并进行了实验。结果表明，由于采用的制造程序，四自由度原型展示了可接受的 3R1T RCM 特性和定位精度。因此，合成的机械手在 MIS 中提供了潜在的应用。