Constrained Kinematic Control in Minimally Invasive Robotic Surgery Subject to Remote Center of Motion Constraint

This paper presents kinematic control of surgical robotic systems subject to Remote Center of Motion (RCM) constraint in Minimally Invasive Robotic Surgeries (MIRS). A novel kinematic formulation for surgical systems is derived and the movement restriction in incision point, known as RCM constraint, is resolved by active control of the system through a so-called RCM-constrained Jacobian. The proposed minimal Jacobian matrix can realize fixed/moving trocar constraint effectively in comparison with the state-of-the-arts. In the following, an analysis related to the dexterity of the constrained system is introduced and an index for manipulability of the constrained system is introduced. The proposed approach is validated through several numerical simulations as well as experiments in a 7DoFs and 9DoFs MIRS scenarios. The results show the efficiency and the precision of the proposed method.