Development of a spherical parallel manipulator as a haptic device for a tele-operation system: Application to robotic surgery

In tele-operation applications, especially in surgery, haptic devices need to exhibit a high degree of rigidity and accuracy. This paper deals with the development of a spherical parallel manipulator (SPM) that enables the satisfaction of those characteristics. The parallel architecture enables the use of this kind of robot as master in a tele-operation system. Moreover, the SPM has a center of rotation that makes it a natural candidate and more adapted to minimally invasive surgery application. However, the parallel manipulator presents a poor behavior in singular configuration.

[1]  G. G. Stokes.  "J." , 1890, The New Yale Book of Quotations.

[2]  H. Harry Asada,et al.  Kinematic and static characterization of wrist joints and their optimal design , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[3]  Clément Gosselin,et al.  On the Kinematic Design of Spherical Three-Degree-of- Freedom Parallel Manipulators , 1993, Int. J. Robotics Res..

[4]  Jean-Pierre Merlet,et al.  Direct kinematics of parallel manipulators , 1993, IEEE Trans. Robotics Autom..

[5]  Clément Gosselin,et al.  The agile eye: a high-performance three-degree-of-freedom camera-orienting device , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[6]  C. Gosselin,et al.  The direct kinematics of planar parallel manipulators: Special architectures and number of solutions , 1994 .

[7]  C. Gosselin,et al.  On the direct kinematics of spherical three-degree-of-freedom parallel manipulators of general architecture , 1994 .

[8]  Clément Gosselin,et al.  On the development of the Agile Eye , 1996, IEEE Robotics Autom. Mag..

[9]  Jorge Angeles,et al.  Kinematic Isotropy and the Optimum Design of Parallel Manipulators , 1997, Int. J. Robotics Res..

[10]  Jorge Angeles,et al.  On the workspace determination of spherical serial and platform mechanisms , 1999 .

[11]  Jorge Angeles,et al.  The direct kinematics of parallel manipulators under joint-sensor redundancy , 2000, IEEE Trans. Robotics Autom..

[12]  Jean-Pierre Merlet,et al.  Parallel Robots , 2000 .

[13]  Shahram Payandeh,et al.  Design of spherical parallel mechanisms for application to laparoscopic surgery , 2002, Robotica.

[14]  Enric Celaya.  Interval Propagation for Solving Parallel Spherical Mechanisms , 2002 .

[15]  Jing Wang,et al.  Singularity Loci of a Special Class of Spherical Three-degree-of-freedom Parallel Mechanisms with Revolute Actuators , 2002, Int. J. Robotics Res..

[16]  Clément Gosselin,et al.  Singularity Loci of Spherical Parallel Mechanisms , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[17]  Ilian A. Bonev,et al.  Working and assembly modes of the agile eye , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[18]  Jorge Angeles,et al.  A robust forward-displacement analysis of spherical parallel robots , 2009 .

[19]  S. Bai.  Optimum design of spherical parallel manipulators for a prescribed workspace , 2010 .

[20]  Med Amine Laribi,et al.  Synthesis of spherical parallel manipulator for dexterous medical task , 2012 .