Dimensional optimisation and an inverse kinematic solution method of a safety‐enhanced remote centre of motion manipulator
Fang Huang,
Hongqiang Sang,
Fen Liu
et al.
Abstract:BackgroundWith the expansion of minimally invasive surgery (MIS) applications in surgery, the remote centre of motion (RCM) manipulator requires a more flexible workspace to meet different operation requirements. Thus, the mechanical structure and motion control of the RCM manipulator play important roles.MethodsA multi‐objective genetic algorithm was exploited to maximise the kinematic performance and obtain a compact structure of the RCM manipulator. An inverse kinematic solution method is proposed to meet t… Show more
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