State of the art in movement around a remote point: a review of remote center of motion in robotics

doi:10.1007/s11465-024-0785-3

Front. Mech. Eng.

2024, Vol. 19

Issue (2) : 14 https://doi.org/10.1007/s11465-024-0785-3

State of the art in movement around a remote point: a review of remote center of motion in robotics

Wuxiang ZHANG^1,²(

), Zhi WANG¹, Ke MA¹, Fei LIU¹, Pengzhi CHENG³, Xilun DING^1,²

¹. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191, China
². Ningbo Institute of Technology, Beihang University, Ningbo 315832, China
³. Intelligent Aerospace Manufacturing Engineering Technology Co., Ltd., Beijing 100191, China

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Abstract

The concept of remote center of motion (RCM) is pivotal in a myriad of robotic applications, encompassing areas such as medical robotics, orientation devices, and exoskeletal systems. The efficacy of RCM technology is a determining factor in the success of these robotic domains. This paper offers an exhaustive review of RCM technologies, elaborating on their various methodologies and practical implementations. It delves into the unique characteristics of RCM across different degrees of freedom (DOFs), aiming to distill their fundamental principles. In addition, this paper categorizes RCM approaches into two primary classifications: design based and control based. These are further organized according to their respective DOFs, providing a concise summary of their core methodologies. Building upon the understanding of RCM’s versatile capabilities, this paper then transitions to an in-depth exploration of its applications across diverse robotic fields. Concluding this review, we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their applications. This discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.

Keywords remote center of motion mechanism robotics medical robot orientation device exoskeleton

Corresponding Author(s): Wuxiang ZHANG

About author: #usheng Xing, Yannan Jian and Xiaodan Zhao contributed equally to this work.]]>

Just Accepted Date: 01 February 2024 Issue Date: 30 May 2024

Cite this article:

Wuxiang ZHANG,Zhi WANG,Ke MA, et al. State of the art in movement around a remote point: a review of remote center of motion in robotics[J]. Front. Mech. Eng., 2024, 19(2): 14.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-024-0785-3
https://academic.hep.com.cn/fme/EN/Y2024/V19/I2/14

DOF	Motion	Schematic	Mathematical expression^a)
DOF	Motion	Schematic	Screw expression	Normal expression
1	1R		$S 1 = (y 0)$	$R (o, y) = {[e y^θ 1 0 01], θ 1 ∈ [0, 2 π]}$
1	1T		$S 1 = (0 w)$	$T (z) = {[I α z 01], α ∈ R}$
2	1R1T		${S 1 = (y 0) S 2 = (0 w)$	$R (o, y) ? T (z) = {[e y^θ 1 e y^θ 1 α z 01], θ 1 ∈ [0, 2 π], α ∈ R}$
2	2R		${S 1 = (x 0) S 2 = (y 0)$	$R (o, x) ? R (o, y) = {[e x^θ 1 + y^θ 2 0 01], θ 1, θ 2 ∈ [0, 2 π]}$
3	2R1T		${S 1 = (x T 0) T S 2 = (y T 0) T S 3 = (0 w T) T$	$R (o, x) ? R (o, y) ? T (z) = {[e x^θ 1 + y^θ 2 e x^θ 1 + y^θ 2 α z 01], θ 1, θ 2 ∈ [0, 2 π], α ∈ R}$
3	3R		${S 1 = (x T 0) T S 2 = (y T 0) T S 3 = (z T 0) T$	$R (o, x) ? R (o, y) ? R (o, z) = {[e x^θ 1 + y^θ 2 + z^θ 3 0 01], θ 1, θ 2, θ 3 ∈ [0, 2 π]}$
4	3R1T		${S 1 = (x T 0) T S 2 = (y T 0) T S 3 = (z T 0) T S 4 = (0 w T) T$	$R (o, x) ? R (o, y) ? R (o, z) ? T (z) = {[e x^θ 1 + y^θ 2 + z^θ 3 e x^θ 1 + y^θ 2 + z^θ 3 α z 01], θ 1, θ 2, θ 3 ∈ [0, 2 π], α ∈ R}$

Tab.1 RCMs with different DOFs

Fig.1 Types of remote center of motion approaches.

Fig.2 Basic joints of serial remote center of motion mechanism.

Fig.3 One-degree of freedom (1R) remote center of motion mechanisms.

Fig.4 Serial 2-degree of freedom remote center of motion mechanisms.

Fig.5 Serial 3-degree of freedom remote center of motion mechanisms.

Fig.6 Serial 4-degree of freedom (3R1T) remote center of motion mechanisms.

Fig.7 Parallel 1-degree of freedom (1R) remote center of motion mechanisms.

Fig.8 Parallel 2-degree of freedom remote of center motion mechanisms.

Fig.9 Parallel 3-degree of freedom remote center of motion mechanisms.

Fig.10 Parallel 4-degree of freedom (3R1T) remote center of motion mechanisms.

Fig.11 Control-based remote center of motion strategies.

Fig.12 Timeline of remote center of motion approaches.

Tab.2 Design-based RCM approaches

Tab.3 Control-based RCM approaches

Tab.4 RCM performance

Fig.13 RCMs are most widely applied in medical robots. An RCM can be applied to different subfields in medical robots and in MIS because of its ability to move through an incision, in medical instrument orientation because of changing orientations, and in surgery interaction devices because of synchronizing motions.

Fig.14 Remote center of motion applications in minimally invasive surgery.

Fig.15 Remote center of motion applications in medical instrument orientation.

Fig.16 Remote center of motion applications in surgical interaction device.

Fig.17 Remote center of motion applications in orientation device.

Fig.18 Remote center of motion applications in exoskeleton robot.

Fig.19 Future remote center of motion applications.

Abbreviations
Ar	Arc guide joint
DOF	Degree of freedom
HRC	Human?robot collaboration
MIS	Minimally invasive surgery
P	Prismatic
Pa	Parallelogram
R	Rotation
U	Universal
RCM	Remote center of motion
RNN	Recurrent neural network
T	Translation
VC	Virtual center
Variables
J_RCM	Jacobian matrix from the joints to the RCM point controlled by the RCM algorithms
$p ˙ RCM$	RCM point in the three-dimensional Cartesian space
q	Joint parameter vector
S	Screw in a six-dimensional
S_joint-j	Motion screw of the jth joint
v	Unit vector in the v-direction
w	Unit vector in the w-direction
x	Unit vector in the x-direction in the world coordinate system
y	Unit vector in the y-direction in the world coordinate system
z	Unit vector in the z-direction in the world coordinate system
λ	RCM position parameter for the serial robot

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