Kinematics and Workspace of a New Surgical Robot

with Five Degrees of Freedom

I.L. Scurtu
1
, N. Plitea
2
, N. Crisan
1
, D. Pisla
2

1
Department of Vehicles and Transport
2
Department of Mechanical System Engineering
Technical University of Cluj-Napoca,
Cluj, Romnia
Liviu.SCURTU@auto.utcluj.ro


Abstract-The paper presents some aspects about the kinematics
and workspace of a new parallel robot developed for minimally
invasive surgery. Possible motion of the active joints and the
laparoscope movement in surgery field are generated using
Matlab software. The robot workspace is generated using the
developed geometrical model. The benefits of this parallel
structure are presented finally in the paper.
Keywords-robotic surgery; parallel robot; kinematics;
workspace
I. INTRODUCTION
Compared to traditional open surgery, minimal invasive
surgery procedures reduce recovery time and trauma of the
patient. Minimally invasive surgery is a better alternative to the
open surgery whereby essentially the same operations are
performed using specialized instruments designed to fit into
body trough several pencil-sized holes instead of one large
incision [1]. Open surgery traditionally involves making a large
incision to visualize the operative field and to access human
internal organs. Robotic-assisted surgery was developed to
overcome limitation of minimally invasive surgery. Instead of
directly moving the instruments, the surgeon uses a computer
console to manipulate the instruments attached to multiple
robot arms.
In recent years the parallel robots have been studied
extensively for applications in surgery procedures due to their
advantages like high accuracy and good stiffness.
Worldwide there are several robotics systems developed for
minimal invasive surgery. Jasper et al. have published a
detailed presentation of all camera and instrument holders for
minimally invasive surgery (MIS) [2]. AESOP robotic arm was
the first robotic manipulator of the laparoscopes used in MIS
dating from 1993 [3]. After AESOP, Computer Motion has
developed Zeus Surgical Robot with three robotic arms
attached to the side of the operating table.
Another robotic system is ENDOASSIST [4], made by
Armstrong Healthcare. This robotic system is a free-standing
device that holds the laparoscope and is controlled by the
surgeon instead of the assistant. It is activated by a foot pedal
and controlled by the surgeons head movements. The console
of this robotic system is positioned alongside the patients.
The LAPMAN robotic system is a dynamic laparoscope
holder guided by a joystick clipped onto the laparoscopic
instruments under the operators index finger [5]. The
LAPMAN robotic system received FDA clearance in 2003 and
has been validated for general surgery, gynecology and urology
on the European market in 2003.
The da Vinci robotic system developed by the Intuitive
Surgical [6] is one of the most complex surgical robots
available now in the world. This robot is designed to enable
complex surgery using minimally invasive approach. The
system consists of an ergonomic surgeons console, a patient
side cart with four interactive robotic arms and a high-
performance three dimension high definition vision system.
The EndoWrist instrument allows the surgeons hand
movement to be scaled, filtered and translated into precise
movements. Some drawbacks of this robotic system are
reported in [7] including size of this system, lack of compatible
instruments, equipment and purchase price.
The PARAMIS robotic system is a new parallel robot
designed in CESTER [8], used for laparoscopic camera
positioning. The control input allows the user to give
commands for the positioning of the laparoscope using
different interface: joystick, microphone, keyboard, mouse and
haptic device [9].
The PARASURG-5M is another parallel hybrid surgical
robot designed for laparoscope camera positioning in surgery
field, which was been developed by the collaboration between
Technical University from Cluj-Napoca and University of
Medicine and Pharmacy Iuliu Hatieganu from Cluj-Napoca
[10, 11].
Tanikawa et al. developed a parallel mechanism on a
dexterous micro-manipulation system for use in assembling
micro-machines, manipulating biological cells, and performing
micro-surgery [12].
Merlet developed a micro robot called MIPS with a parallel
mechanical architecture having three degree of freedom that
allows fine positioning of a surgical tool. The purpose of MIPS
is to act surgeon an accurate tool that may further offers a
partial force-feedback [13].
This paper was supported by the project the Scopes International IP Grant
Creative Alliance in Research and Education focused on Medical and Service
Robotics, IZ74Z0_13736 (Switzerland-Romania-Serbia), 2011-2014.
978-1-4673-0704-8/12/$31.00 2012 IEEE 406 AQTR 2012
The parallel robotic structure presented in this paper was
developed within the CESTER research center within
Technical University of Cluj-Napoca, Romania. The robot
releases some of the pressure on the abdominal wall in certain
positions of the robot and the new robot may be used either as
laparoscope holder or as manipulator of active instruments,
used for cutting, suturing, grasping etc.
II. DESCRIPTION OF THE PARALLEL MECHANISM
The architecture of a parallel mechanism is shown in fig. 1,
which is composed of a fixed base and two guiding kinematics
chains of the platform. Both kinematics chains are connected
by two shafts from the fixed base. This robotic structure is the
subject of a patent. The movements of parallel robot are
achieved by using a rotational motor and four linear motors, as
seen in the fig. 1.

Figure 1. Kinematic scheme of parallel robot
The rotational motor is positioned on the fixed base and
rotates the splined shaft given the active coordinate q
1
. The
next active coordinates: q
2
, q
3
, q
4
, q
5
are given by the linear
motors which slides on two guiding chains. The splined shaft
transmits the rotation given by the rotary motor, turning the
first kinematic chain. To achieve the translational motion can
be used four piezoelectric motors. The five degrees of mobility
and parallel mechanism geometry allows the movement of the
laparoscope without support of the patients abdomen, the
laparoscope or the instrument just moving around the
abdominal insertion point, having an advantage over other
structures from the field of minimally invasive surgery. This
parallel structure offers higher stiffness and smaller mobile
mass than serial ones. Also the ability of this structure to be
used as laparoscope holder or as manipulator of active
instruments gives an advantage over robots from this area. One
disadvantage of this structure is the large space occupied in the
operating room. For a better visualization of this parallel
mechanism, it was modeled in Solid Works [14] software
package.
III. KINEMATICS OF THE PARALLEL ROBOT
Kinematics of parallel robot presented in this section
describes the relationship between the active joints positions
and the end-effector positions and orientation.
The kinematic scheme of this parallel mechanism is
presented in fig. 1.
The robot kinematic model is determined by means of the
implicit functions resulted from the geometrical model [15].

2
1 i, E E E E 1 E E
2 2 2
1 E E
F (q X , Y , , ) (X z S S e ) (Y z
C S ) S q (Y z C S ) 0
+ +

+ =

2 2, E 2 1 E E
F (q Z , ) q h Z z C 0 + =


[
2 2
3 3, E E E 3 E E 1 1
2
2 2 2
1 E E 1 E E
2 2 2
1 E E 1 E E
F (q X , Y , Z , , ) (q Z z C h ) a
b (X z S S e ) (Y z C S )
4b (X z S S e ) (Y z C S ) 0
+ +

+ + + +

+ + =

(1)

4 4, E 4 E
F (q Z , ) q Z d C 0 =


[
2 2 2
5 5, E E E 5 E 2 2
2
2 2
E 2 E
2 2 2
2 E 2 E
F (q X , Y , Z , , ) (q Z d C ) a b
+(X d S S e ) (Y d C S )
4b (X d S S e ) (Y d C S ) 0
+ +

+ +

+ + =

A. The inverse kinematic model of the parallel robot
Knowing the end-effectors velocities,
E E E
X , Y , Z , ,

, the
driving velocities
1 2 5
q , q ,..., q are computed using equation
(2).
AX Bq 0 + =

(2)
Having equation (2), it results:
. .
1
q B A X

=
(3)

where matrix A and B are given by the next two relations:
407 AQTR 2012

1 1 1 1
E E
2 2
E
3 3 3 3 3
E E E
4 4
E
5 5 5 5 5
E E E
F F F F
0
X Y
F F
0 0 0
Z
F F F F F
A
X Y Z
F F
0 0 0
Z
F F F F F
X Y Z










=












(4)

1
1
2
2
3
3
4
4
5
5
F
0 0 0 0
q
F
0 0 0 0
q
F
0 0 0 0 B
q
F
0 0 0 0
q
F
0 0 0 0
q

(5)
The driving accelerations
1 2 5
q , q ,..., q will be computed,
knowing the end-effector accelerations
E E E
X , Y , Z , ,

.
By deriving equation (3) it results:
AX AX Bq Bq 0 + + + =

(6)
By multiplying with
1
A

respectively
1
B

, it results:

1
X A (Bq AX Bq)

= + +

(7)

1
q B (AX AX Bq)

= + +

(8)
To a better understand of the inverse kinematic model is
presented below the pseudo-code algorithm.

//Inverse kinematic
READ:
. . . . .
.. .. .. .. ..
, , , psi, , , , , psi, ,
, , , psi, ,
E E E E E E
E E E
X Y Z theta X Y Z theta
X Y Z theta

SET: h
1
, e
1
, e
2
, d, a
1
, b
1
, a
2
, b
2
, d
1
; F
1
, F
2
, F
3
, F
4
, F
5
;
COMPUTE:
B = diff(F
1
,q
i
) , diff(F
2
,q
i
), diff(F
3
,q
i
), diff(F
4
,q
i
),
diff(F
5
,q
i
); q
i
=15
A = diff(F
i
,X
E
) , diff(F
i
,Y
E
), diff(F
i
,Z
E
), diff(F
i
,psi),
diff(F
i
, theta); F
i
=15
A

= diff(A
ij
, X
E
)+diff(A
ij
, Y
E
)+diff(A
ij
, Z
E
)+
+diff(A
ij
, psi)+diff(A
ij
, theta)+diff(A
ij
, q
1
) +diff(A
ij
, q
2
)
+diff(A
ij
, q
3
) +diff(A
ij
, q
4
) +diff(A
ij
, q
5
); i=15,
j=15;
B

= diff(Bij, X
E
)+diff(B
ij
, Y
E
)+diff(B
ij
, Z
E
)+
+diff(B
ij
, psi)+diff(B
ij
, theta)+ diff(B
ij
, q
1
) +
+diff(B
ij
, q
2
) +diff(B
ij
, q
3
) +diff(B
ij
, q
4
)+
+diff(B
ij
, q
5
); i=1 5, j=15;
. .
1
q B A X

=
1
( ) q B AX AX Bq

= + +


END_COMPUTE
DISPLAY:
1 2 3 4 5 1 2 3 4 5 1 2 3 4 5
q , q , q , q , q , q , q , q , q , q , q , q , q , q , q
B. The direct kinematic model of the parallel robot
In the direct kinematic model the input data are the
velocities of the actuators
1 2 5
q , q ,..., q and the output data
are the velocities of the end-effector:
E E E
X , Y , Z , ,

.
Having equation (2), it results:

. .
1
X A Bq

= (9)
Also, having as input data the driving accelerations
1 2 5
q , q ,..., q , the end-effectors accelerations result from
equation (6):

1
X A (Bq AX Bq)

= + +

(10)
The pseudo-code algorithm for direct kinematic model is
presented as follows:
// Direct kinematic
READ:
1 2 3 4 5 1 2 3 4 5 1 2 3 4 5
q , q , q , q , q , q , q , q , q , q , q , q , q , q , q
SET: h
1
, e
1
, e
2
, d, a
1
, b
1
, a
2
, b
2
, d
1
; F
1
, F
2
, F
3
, F
4
, F
5
;
COMPUTE:
B = diff(F
1
,q
i
) , diff(F
2
,q
i
), diff(F
3
,q
i
), diff(F
4
,q
i
),
diff(F
5
,q
i
); q
i
=15
A = diff(F
i
,X
E
) , diff(F
i
,Y
E
), diff(F
i
,Z
E
), diff(F
i
,psi),
diff(F
i
, theta); F
i
=15
A

= diff(A
ij
, X
E
)+diff(A
ij
, Y
E
)+diff(A
ij
, Z
E
)+
+diff(A
ij
, psi)+diff(A
ij
, theta)+diff(A
ij
, q
1
) +diff(A
ij
, q
2
)
+diff(A
ij
, q
3
) +diff(A
ij
, q
4
) +diff(A
ij
, q
5
); i=15, j=15;
B

= diff(Bij, X
E
)+diff(B
ij
, Y
E
)+diff(B
ij
, Z
E
)+
+diff(B
ij
, psi)+diff(B
ij
, theta)+ diff(B
ij
, q
1
) +
+diff(B
ij
, q
2
) +diff(B
ij
, q
3
) +diff(B
ij
, q
4
)+
+diff(B
ij
, q
5
); i=1 5, j=15;
408 AQTR 2012
. .
1
X A Bq

=
1
( ) X A Bq AX Bq

= + +


END_COMPUTE
DISPLAY:
. . . . .
.. .. .. .. ..
, , , psi, , , , , psi, ,
, , , psi, ,
E E E E E E
E E E
X Y Z theta X Y Z theta
X Y Z theta

The calculus of the Jacobian matrices is very important to
find the analytical solution for direct and inverse kinematic
model of speed and acceleration for implement the model in
controller. Detailed calculation of the matrices is presented in
Appendix of this paper.
IV. RESULTS OF THE KINEMATIC SIMULATION
The numerical and simulation results from the next figures
was obtained using Matlab software package. For the
simulation, the following motion parameters were chosen:
Also it needs to be mentioned that the maximum speed was
chosen to be 0.2 [m/s] and the maximum acceleration was
chosen 0.4 [m/s
2
].
The results for a linear trajectory of the end-effector with
the following data are presented in fig. 2:
- the starting point is A(0, 0.7, 0.2)
- the end point is B(0.2, 0.9, 0.4)
where A and B are two arbitrary points contained in the
workspace.
The robot parameters used in this model to generate the
simulation are: h
1
=154, e
1
=300, e
2
=300, d=409, a
1
=536,
b
1
=605, a
2
=536, b
2
=605, d
1
=200. These parameters are given
in millimeters.

0 0.5 1 1.5 2
0
0.1
0.2
t[s]
X
e

[
m
]
0 0.5 1 1.5 2
0
0.05
0.1
t[s]
v
X
e

[
m
/
s
]
0 0.5 1 1.5 2
0.2
0
0.2
t[s]
a
X
e

[
m
/
s
2
]
0 0.5 1 1.5 2
0.7
0.8
0.9
t[s]
Y
e

[
m
]
0 0.5 1 1.5 2
0
0.05
0.1
t[s]
v
Y
e

[
m
/
s
]
0 0.5 1 1.5 2
0.2
0
0.2
t[s]
a
Y
e

[
m
/
s
2
]
0 0.5 1 1.5 2
0.2
0.3
0.4
t[s]
Z
e

[
m
]
0 0.5 1 1.5 2
0
0.05
0.1
t[s]
v
Z
e

[
m
/
s
]
0 0.5 1 1.5 2
0.2
0
0.2
t[s]
a
Z
e

[
m
/
s
2
]
0 0.5 1 1.5 2
0.2
0.4
0.6
t[s]
p
s
i
[
r
a
d
]
0 0.5 1 1.5 2
0
0.1
0.2
0.3
t[s]
v
p
s
i
[
r
a
d
/
s
]
0 0.5 1 1.5 2
0.5
0
0.5
t[s]
a
p
s
i
[
r
a
d
/
s
2
]
0 0.5 1 1.5 2
0.2
0.4
0.6
0.8
t[s]
t
h
e
t
a

[
r
a
d
]
0 0.5 1 1.5 2
0
0.2
0.4
t[s]
v
t
h
e
t
a

[
r
a
d
/
s
]
0 0.5 1 1.5 2
0.5
0
0.5
t[s]
a
t
h
e
t
a

[
r
a
d
/
s
2
]

Figure 2. Linear trajectory in space of the end-effector

Fig. 2 presents the time history for the end-effector motion,
and fig. 3 presents the time history diagrams for driving
coordinates, velocities and accelerations.
0 0.5 1 1.5 2
1.7
1.8
1.9
t[s]
q
1

[
r
a
d
]
0 0.5 1 1.5 2
0
1
2
t[s]
v
q
1

[
r
a
d
/
s
]
0 0.5 1 1.5 2
10
0
10
t[s]
a
q
1

[
r
a
d
/
s
2
]
0 0.5 1 1.5 2
1.2
1.25
1.3
1.35
t[s]
q
2

[
m
]
0 0.5 1 1.5 2
0.1
0.05
0
t[s]
v
q
2

[
m
/
s
]
0 0.5 1 1.5 2
0.2
0
0.2
t[s]
a
q
2

[
m
/
s
2
]
0 0.5 1 1.5 2
1.6
1.8
t[s]
q
3

[
m
]
0 0.5 1 1.5 2
0.1
0.05
0
0.05
t[s]
v
q
3

[
m
/
s
]
0 0.5 1 1.5 2
0.4
0.2
0
0.2
t[s]
a
q
3

[
m
/
s
2
]
0 0.5 1 1.5 2
0.8
1
t[s]
q
4

[
m
]
0 0.5 1 1.5 2
0.05
0
0.05
t[s]
v
q
4

[
m
/
s
]
0 0.5 1 1.5 2
0.4
0.2
0
t[s]
a
q
4

[
m
/
s
2
]
0 0.5 1 1.5 2
1.3
1.4
1.5
t[s]
q
5

[
m
]
0 0.5 1 1.5 2
0.05
0
0.05
t[s]
v
q
5

[
m
/
s
]
0 0.5 1 1.5 2
0.2
0
0.2
t[s]
a
q
5

[
m
/
s
2
]

Figure 3. Time history diagrams for driving coordinates, velocities and
accelerations
V. WORKSPACE OF THE PARALLEL ROBOT
Parallel manipulators motions can be restricted by different
factors: mechanical limits on passive joints, self-collision
between the elements of the robot, limitations due to the
actuators and singularity varieties that may split the workspace
into separate components.
For visual representation of the robot workspace the
dexterous workspace was used [17]. The dexterous workspace
is a particular case of total orientation workspace, the range of
the rotation angles [0, 2].
The algorithm for workspace generation of this robot is
developed in MATLAB [17] based on the inverse geometric
model. Graphical representation of the robot dexterous
workspace can be seen in fig. 4 and 5.
1000
500
0
500
1000 0
500
1000
1500
0
100
200
300
400
500
mm
mm

Figure 4. Dexterous workspace of the parallel robot.
Fig. 4 shows the total workspace of the robot. In this case
the end-effector is positioned outside the patients abdomen.
409 AQTR 2012
1000
500
0
500
1000
1500
200
400
600
800
1000
1200
1400
249
249.5
250
250.5
251
mm
mm

Figure 5. Section of the workspace
VI. CONCLUSIONS

This paper presents an important step towards achieving a
new parallel robotic system designed for surgical applications.
A new structure was obtained which no longer induce any
pressure on the abdominal wall which can handle both a
laparoscope or an active instrument for different operations
like cutting, suturing, grasping. The robot kinematics was
developed using an analytical method, Jacobian matrices of
this robot were derived. The dexterous workspace of parallel
robot was also generated. The obtained numerical and
simulation results have shown that the kinematic models could
be successfully implemented in the control algorithms of the
experimental model. The design of this robot allows a large
workspace. As a future research, wants to develop a complete
robotic system composed of the three structures as the one
studied in this paper, two structures for right hand and left
hand of the surgeon and one for laparoscopic camera
movement in the surgical field.
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[17] Site: http://www.mathworks.com/products/matlab/
APPENDIX
Calculus for the Jacobian matrices A and B are presented in
next relations.
( )
2 1
1 1 E
E
F
sin(q ) 2 e 2XE 2 z S S
X

= +

( )
2 1
E 1 E
E
F
2 YE 2 z C S Sq 2 z C S
Y

= +

( )
( )
( )
1
E 1 E E
2
E 1 E
E
F
2 z C S e XE z S S 2 z
S S YE z C S Sq 2 z S S
YE z C S

= +

+ +

+

( )
( )
( )
2 1
1 E 1 E
E E E
E
F
Sq 2 z C S e XE z S S
2 z C C YE z C S 2 z C
C YE z C S

= + +

+

2
E
F
1
Z

,
2
E
F
z S

410 AQTR 2012
( )
( )
( ) ( )
( )
2 3
1 1 E E
E
1 E E
2 2
E 1 3 E 1 E E
2
2 2
E E 1 1
F
4 b 2 e 2 X 2 z S S 2
X
2 e 2 X 2 z S S
Z h q z C e X z S S
Y z C S a b

= +

+ + +

+ + +

(
) ( )
( )
( )
E E E 1 3
2 2
E 1 E E
2
E E
3
2 2 2
1 1 1 E E
E
2 (2 Y 2 z C S ) Z h q
z C e X z S S
Y z C S
a b 4 b 2 Y 2 C
F
S
Y
z
+ +

+ +
+ +
+ +

( )
( ) (
) ( )
E 1 3 E
2
E 1 3 E 1 E E
2 2
2 2
E E 1 1
3
E
2 2 Z 2 h 2 q 2 z C
Z h q z C e X z
S S Y z S
F
C a b
Z
+

+ + +

+ + +

[ ( )
( )
[ ( )
( ) ( )
[ ( )
E 1 E E
E E E
2
E 1 3 E E 1 3 E
2 2
1 E E E E
2 2
1 1 E 1 E
3
E
E
2 2 z C S e X z S S
2 z S S Y z C S
Z h q z C Z h q z C
e X z S S Y z C S
a b 2 z S S e X z S S
z
F
2 S
+
+

+ + +

+ + + +
+ +

E E
S (Y z C S )] +

[ ( )
( )
( ) ( )
( ) ( )
[
E E 1 3 E E
1 E E E
2
E E E 1 3 E
2 2
1 E E E E
2 2 2
1 1 1 E
1 E E
3
2 2 z S Z h q z C 2 z
C S e X z S S 2 z C C
Y z C S Z h q z C
e X z S S Y z C S
a b 4 b 2 z C S
X z
F
(e
+ +
+ +

+ +

+ + + +
+

=
+

E
E E
S S ) 2 z C C
(Y z C S )]
+
+

4
E
F
1
Z

,
4
F
d S

( ) (
) ( ) (
)
( )
5
E 2 E 2
E
2 2
E 5 E
2
2 2 2
2 2 2
E
F
2 2 X 2 e 2 d S S X e
X
d S S Z q d C Y d
C S a b b
2 X 2 e2 2d S S

= + +

+ + + +
+ 4

+

( ) (
) ( ) ( )
( )
5
E E 2
E
2 2 2
E 5 E
2 2 2
2 2 2 E
F
2 2 Y 2 d C S X e d S
Y
S Z q d C Y d C S
a b b 2 Y 2 d C S

= +

+ + +
+ 4

( ) (
) ( )
( )
5
E 5 E 2
E
2 2
E 5
2
2 2
E 2 2
F
2 2 Z 2 q d C X e d
Z
S S Z q d C
Y d C S a b

= + 2 +

+ + +
+ +

[ ( )
( )
( ) ( )
( ) [
( )
5
E 2
E
2 2
E 2 E 5
2
2 2 2
E 2 2 2
E 2
E
F
2 2 d C S X e d S S
2 d S S Y d C S
X e d S S Z q d C
+ Y d C S a b b 2 d
C S X e d S S 2 d S
S (Y

= + +

+ + + +

+ 4

+ +
d C S )]



[ ( )
( ) ( )
( ) (
) ( ) ( )
[
5
E 5
E 2 E 2
E E 2
2 2 2
E 5 E
2 2 2
2 2 2 E 2
F
2 2 d S Z q d C 2 d C S
X e d S S X e d S S
2 d C C Y d C S X e d
S S + Z q d C Y d C S
a b b 2 d C S (X e

= +

+ + +
+ +

+ +
+ 4 +

E
d S S ) 2 d C C (Y d C S )] +

The partial derivates of the Jacobi matrix B are presented in
next relations:
( )
( )
2
1
1 1 1 e
1
2
e
F
2 Cq Sq e XE z S S
q
YE z C S

= +

+ +

2
2
F
1
q

,
4
4
F
1
q

( )
( ) (
) ( )
3
1 3 E
3
2
1 3 E 1 E
2 2
2 2
E 1 1
F
2 2 ZE 2 h 2 q 2 z C
q
ZE h q z C e XE z
S S YE z C S a b

= +

+ + +

+ + +

( ) (
) ( ) ( )
5
5 2
5
2 2 2
5
2 2
2 2
F
2 2 ZE 2 q 2 d C XE e d S
q
S ZE q d C YE d C S
a b

= + + +

+ + +
+

411 AQTR 2012