Manipulability Analysis and RCM Position Optimization for Laparoscopic Operations Using a Simplified Planar 4-DoF Surgical Robot Mechanism

The article presents the results of a manipulability analysis and optimal remote center of motion (RCM) frame placement based on the manipulability index for a simplified model of a planar laparoscopic surgical robot system with a control-based RCM constraint. The paper presents an analytical kinematic model of the planar laparoscopic surgical robot system, a method for computing a manipulability objective taking into account the RCM constraint, and a formulation of the optimization problem used to establish the optimal placement of the system with respect to the task. The presented results are backed by a sensitivity analysis measuring the influence of parameter uncertainty on the value of the objective.