Modeling and simulation of a Remote Center of Motion mechanism

Abstract

Reducing the invasiveness is an important task in surgery. In percutaneous surgery, it is always required to insert surgical tools from a single insertion port(SIP) on patient skin. In this paper, we analyzed a Remote Center of Motion (RCM) robot mechanism which is designed to conduct surgery through SIP. A spherical mechanism comprising two semi-circular arches were used to realize the RCM. Two motorized linear slides were incorporated into the system to actually achieve SIP. A novel analytical method for modeling the kinematics of this RCM mechanism was proposed. This method can overcome the limitation of previous method in existing literature. Simulation was conducted to show the correctness of our analytical method. Dynamics analysis of the RCM mechanism was also conducted to design force control strategies.