A Spherical Mechanism Featuring Distal Actuation and Tool Exchange
Journal
IFAC-PapersOnLine
Journal Volume
59
Journal Issue
18
Start Page
49
End Page
54
ISSN
24058971
Date Issued
2025-07-01
Author(s)
Abstract
The Remote Center of Motion (RCM) mechanism is widely-used in minimally invasive surgery (MIS), additive manufacturing, and medical imaging, where large or spherical workspace are essential. Spherical scissors mechanisms, a type of RCM mechanisms, offer significant advantages, including spherical workspace, singularity prevention and smooth pitch-roll motion, but face challenges such as high inertia from proximal motor placement and limited tool exchange capabilities. This work introduces a spherical scissors mechanism that integrates distal actuation via Bowden cables and a novel tool exchange mechanism. The proposed design positions all motors at the base, minimizing inertia and ensuring a compact footprint, while employing a pin-and-slot system for transverse tool exchange. The robot achieves four degrees of freedom (roll, pitch, tool rotation and insertion) within a compact volume. Preliminary validation demonstrates the feasibility of achieving RCM motion, efficient distal actuation, and reliable manual tool exchange, providing a foundation for future automation and expanded applications.
Event(s)
14th IFAC Symposium on Robotics, ROBOTICS 2025, held jointly with the 10th IFAC Symposium on Mechatronic Systems, MECHATRONICS 2025, Paris, 15 July 2025 - 18 July 2025
Subjects
distal actuation
Remote center of motion mechanism
tool exchange
Publisher
Elsevier B.V.
Type
conference paper