Comparative analysis of RCM mechanisms based on parallelogram used in surgical robots for laparoscopic minimally invasive surgery

摘要

This article presents results of comparative analysis of kinematics and dynamics of five varieties of the parallelogram-based RCM mechanism applied in real-life designs of surgical robots. Analyses were conducted using ANSYS Workbench v. 16.2. Obtained results allow for formulation of guidelines concerning conscious selection of the form of the RCM mechanism and assessment of its usefulness from the perspective of application in new solutions of laparoscopic surgical robots.