Abstract Compared with traditional open surgery, minimally invasive surgery (MIS) is safer and more beneficial to patients’ recovery. However, this type of surgery is an arduous task for doctors. Using robots to carry out MIS is a good choice. In this paper, a new remote-center-of-motion (RCM) mechanism is presented. First, the direct kinematics and inverse kinematics are analyzed. Second, singularity analysis is conducted based on the Jacobian matrix, and a three-dimensional workspace is sketched. Next, the motion/force transmission index is established using screw theory, and optimization design is conducted to improve the performance of the mechanism. Finally, workspace validation on a prototype is conducted. The proposed RCM mechanism has several advantages: a good actuation scheme, analytical direct kinematic solutions, and no singular configurations in the prescribed workspace. The proposed RCM mechanism is suitable for single minimal incision surgery, such as biopsy and cryosurgery.

中文翻译：

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具有远程运动中心的1R1T平面机构的设计

摘要 与传统的开放手术相比，微创手术（MIS）更安全，更有利于患者的康复。然而，这种手术对于医生来说是一项艰巨的任务。使用机器人进行MIS是一个不错的选择。在本文中，提出了一种新的远程运动中心 (RCM) 机制。首先，分析了直接运动学和逆运动学。其次，基于雅可比矩阵进行奇异性分析，并勾勒出三维工作空间。接下来，利用螺旋理论建立运动/力传递指标，并进行优化设计以提高机构的性能。最后，对原型进行工作区验证。所提出的 RCM 机制有几个优点：良好的驱动方案，解析直接运动学解决方案，并且在规定的工作空间中没有单一的配置。所提出的 RCM 机制适用于单个小切口手术，例如活检和冷冻手术。