Work

Design of a Remote Center-of-Motion Parallel Mechanism for Percutaneous Interventions

Year: 2026

Type: article

Abstract: Percutaneous intervention procedures require the insertion and manipulation of a puncture instrument within the patient’s body. In this context, a remote center-of-motion (RCM) parallel mechanism, termed PercuCob-RCM, is designed to support clinicians during needle-based interventions by securely holding the puncture instrument and enabling a translational motion along the direction of the needle and rotational motions about a fixed insertion point. A key challenge in developing this mechanism lies in the actuation of its universal joint. This work investigates three alternative actuation schemes and evaluates them to guide the construction of a suitable prototype. The prototype design is formulated as a biobjective optimization problem. The first objective function represents the overall size of the mechanism, while the second captures the motor torques required to sustain a specified axial tool force. For each actuation scheme, the set of nondominated Pareto-optimal solutions is computed and analyzed. Based on the comparative assessment of the Pareto fronts, a preferred design configuration is selected, and a functional prototype is developed.

Source: Journal of Mechanical Design

DOI: 10.1115/1.4071570

Authors: Kevin Gaitan, Juan Sandoval, Amir Trabelsi, Nassir Navab, Stéphane Caro

Institutions: École Centrale de Nantes, Centre National de la Recherche Scientifique, Laboratoire des Sciences du Numérique de Nantes, Nantes Université, Technical University of Munich

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

OpenAlex ID: W7147571945

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