RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control
<|reference_start|>RCM-Constrained Manipulator Trajectory Tracking Using Differential Kinematics Control: This paper proposes an approach for controlling surgical robotic systems, while complying with the Remote Center of Motion (RCM) constraint in Robot-Assisted Minimally Invasive Surgery (RA-MIS). In this approach, the RCM-constraint is upheld algorithmically, providing flexibility in the positioning of the insertion point and enabling compatibility with a wide range of general-purpose robots. The paper further investigates the impact of the tool's insertion ratio on the RCM-error, and introduces a manipulability index of the robot which considers the RCM-error that it is used to find a starting configuration. To accurately evaluate the proposed method's trajectory tracking within an RCM-constrained environment, an electromagnetic tracking system is employed. The results demonstrate the effectiveness of the proposed method in addressing the RCM constraint problem in RA-MIS.<|reference_end|>
@article{rayyan2024rcm-constrained,
    title={RCM-Constrained Manipulator Trajectory Tracking Using Differential
  Kinematics Control},
    author={Omar Rayyan, Vinicius Gonc{c}alves, Nikolaos Evangeliou, Anthony Tzes},
    journal={2023 21st International Conference on Advanced Robotics (ICAR)},
    year={2024},
    doi={10.1109/ICAR58858.2023.10406459},
    archivePrefix={arXiv},
    eprint={2409.05740},
    primaryClass={cs.RO math.OC}
}