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Parallel mechanisms with a Remote Center of Motion (RCM) hold great promise for complex eye surgeries but face significant challenges in achieving high precision due to strict geometric constraints and inevitable manufacturing errors. This paper introduces a novel RCM parallel robot that employs a 5-bar spherical linkage to control yaw and pitch motions and a cable-driven system to drive both the axial rolling and linear motions of the surgical tool. By positioning all motors at the base, the design minimizes the moment of inertia of the moving structure, thereby enhancing precision. An error model is developed to analyze potential error sources, identifying critical factors that affect end-effector accuracy. Simulations across three scenarios demonstrate that managing these errors substantially improves precision while maintaining cost efficiency. This study offers valuable insights into tolerance allocation, component processing, and assembly calibration, contributing to the advancement of high-precision surgical robots.

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Error Modeling and Analysis of a Novel 3R1T Parallel Robot with Remote Center of Motion for Eye Surgery

  • 会议论文

  • 发表日期：

    2025年

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  • Ruihan Yao,
  • Yan Jin,
  • Aislinn McAleenan,
  • Zhiwei Zhao,
  • Johnny Moore

摘要

Parallel mechanisms with a Remote Center of Motion (RCM) hold great promise for complex eye surgeries but face significant challenges in achieving high precision due to strict geometric constraints and inevitable manufacturing errors. This paper introduces a novel RCM parallel robot that employs a 5-bar spherical linkage to control yaw and pitch motions and a cable-driven system to drive both the axial rolling and linear motions of the surgical tool. By positioning all motors at the base, the design minimizes the moment of inertia of the moving structure, thereby enhancing precision. An error model is developed to analyze potential error sources, identifying critical factors that affect end-effector accuracy. Simulations across three scenarios demonstrate that managing these errors substantially improves precision while maintaining cost efficiency. This study offers valuable insights into tolerance allocation, component processing, and assembly calibration, contributing to the advancement of high-precision surgical robots.