A Design for Remote Center of Motion Control Using a Software Computing Approach

摘要

The remote center of motion (RCM) control allows the surgical tools to keep rotating around the trocar insertion point of minimally invasive surgery (MIS) during the robot-assisted movement. In this paper, we propose a method to achieve RCM control for a general 6-DOF industrial manipulator to through software programming. This method can be employed by any robotic manipulator to obtain the coordinate transform of the tool center point (TCP) of the manipulator according to a simple RCM formula. The respective inverse kinematics of the manipulator calculate the joint commands of the manipulator to complete the RCM control. The RCM algorithm has been implemented on the 6-DOF HIWIN RA605 robot. The experimental result show that the average error of RCM point is 0. 08mm, and the trajectory tracking error is about 0. 92mm.