RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control

Abstract

This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is upheld algorithmically, providing flexibility in the positioning of the insertion point and enabling compatibility with a wide range of general-purpose robots. The paper further investigates the impact of the tool's insertion ratio on the RCM-error, and introduces a manipulability index of the robot which considers the RCM-error that it is used to find a starting configuration. To accurately evaluate the proposed method's trajectory tracking within an RCM-constrained environment, an electromagnetic tracking system is employed. The results demonstrate the effectiveness of the proposed method in addressing the RCM constraint problem in RA-MIS.