Optimization of Software Controlled Remote Center of Motion Manipulator for Maximum Isotropy

Minimally Invasive Surgery(MIS) is a type of surgery where surgical instrument e.g. laparoscope, endoscope etc. is inserted into a human body through a small incision. The instrument has to be manipulated about the insertion point also known as trocar point to avoid tearing of the skin. Robotic manipulators with Remote Center of Motion (RCM) mechanism are extensively used in this kind of surgery. Kinematic design is important phase in design of such manipulator to ensure safety, accuracy, ergonomics and dexterity. In this paper link lengths of the software controlled RCM manipulator are optimized to maximize global isotropy. Global Conditioning Index (GCI) over the defined workspace is used as metric of global isotropy.