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

Jyun Yi Kuo, Kai Tai Song

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publication2020 International Automatic Control Conference, CACS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781728171982
DOIs
StatePublished - 4 Nov 2020
Event2020 International Automatic Control Conference, CACS 2020 - Hsinchu, Taiwan
Duration: 4 Nov 20207 Nov 2020

Publication series

Name2020 International Automatic Control Conference, CACS 2020

Conference

Conference2020 International Automatic Control Conference, CACS 2020
CountryTaiwan
CityHsinchu
Period4/11/207/11/20

Keywords

  • minimally invasive surgery
  • RCM control
  • surgical robot

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