RCM adjustment for a double-parallelogram based RCM mechanism used for MIS robots

The inevitable errors in the manufacturing, assembly, and testing of a remote center-of-motion (RCM) mechanism lead to the erroneous link parameters which deviate its geometry. Consequently, the motion, as well as the force, become non-zero at the entry port to the patient’s body which is undesirable. To address this issue, the current work first presents the accurate kinematic model of the RCM of an exemplary double-parallelogram-based RCM mechanism. Thereafter, it introduces the RCM adjustment concept and a flexure-based compliant mechanism to nullify/minimize the said deviation. For the analytical design of the flexure element, this paper makes the required design calculations and performs the finite element analysis. It is followed by the disclosure of the RCM Adjustment System and a systematized method of RCM adjustment for a mechanically constrained RCM device. The devised system is based on the prescribed compliant mechanism design and is advantageous, over the traditional RCM adjustments. The potential of the proposed concept lies in the fact that it is not limited to the adopted mechanism only rather, it is extendable to other mechanisms as well which was missing in the prior art. In addition, it offers a more simplified and economical design. Further, an initial prototype of the exemplary mechanism is manufactured using laser micromachining and rapid prototyping techniques. Both analytical as well as physical validations have been performed which proved the efficacy of the proposed kinematic modeling concept. Furthermore, the prototype of the introduced RCM Adjustment System is manufactured as a single-piece design which demonstrated its effectiveness. The preferred embodiment of the same is the said double-parallelogram-based RCM mechanism which is most widely used for robot-assisted minimally invasive surgery (RAMIS). It is designed in a SolidWorks environment and manufactured using Al6101-T6 and SS304 as link material, and a variety of standard elements.