A Generic RCM Constraint Algorithm based on Optimization of a Modular RAMIS System

Haoyuan Miao,Mingjing Sun,Yiqi Yang,Xiandong Tao,Xiaoxiao Zhu,Qixin Cao,Tiewen Pan

2020 3rd World Conference on Mechanical Engineering and Intelligent Manufacturing (WCMEIM)（2020）

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摘要

The paper presents a novel modular robotic-assisted minimally invasive surgery (RAMIS) system which uses two cooperative 7-DOF manipulators as the surgical robots. To implement virtual remote center of motion (RCM) constraint, optimization-based numeric inverse kinematic (IK) algorithm is also proposed. The algorithm relaxes the traditionally strict RCM point constraint to region constraint, which...

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关键词

medical robotics,RAMIS,RCM,RCM constraint inverse kinematics,optimization

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