Design and Validation of a Passive Motion Scaling Mechanism Prototype for Microsurgery

Dongeun Choi, Tae Hoon Lee, Jae Bok Song, Woosub Lee

Research output: Contribution to journalArticlepeer-review

2 Citations (Scopus)


Since the advent of the commercial da Vinci surgical system, microsurgical robotic systems have been increasingly investigated. These systems improve the accuracy and dexterity of surgeries using a computerized motion scaling function between a surgeon’s hand and surgical instrument. However, the manufacturing process of these systems is expensive owing to the use of multiple sensors, actuators, and controllers. Additionally, certain limitations exist, such as an increase in the size of the operating room to accommodate the robotic system and the absence of tactile force feedback. To address these problems, we propose a passive motion scaling mechanism for microsurgery. Based on the pantograph mechanism, we downscale the linear displacement of the surgeon’s hand and transfer it to the surgical instrument. Furthermore, the rotational displacement of the surgeon’s hand in an actual surgery is transmitted to the surgical instrument on a 1:1 scale by applying a parallelogram mechanism. We designed and fabricated a prototype capable of transmitting linear and rotational displacements (pitch and yaw) of the surgeon’s hand with three degrees of freedom (DOFs) and two DOFs, respectively, by combining the two mechanisms. The obtained experimental results verify the motion scaling function of the developed prototype.

Original languageEnglish
Pages (from-to)1065-1075
Number of pages11
JournalInternational Journal of Precision Engineering and Manufacturing
Issue number9
Publication statusPublished - 2022 Sept

Bibliographical note

Funding Information:
This work was supported by the Korea Institute of Science and Technology (KIST) Institutional Program under Grant No. 2E31072.

Publisher Copyright:
© 2022, The Author(s), under exclusive licence to Korean Society for Precision Engineering.


  • Microsurgery
  • Pantograph mechanism
  • Parallelogram mechanism
  • Passive motion scaling

ASJC Scopus subject areas

  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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