Remote Centre of Motion (RCM) Mechanism

Minimally invasive surgery (MIS) promotes patient safety by significantly reducing the level of invasion, where the surgical end effectors are inserted through small incision ports. Remote centre of motion (RCM) is introduced as a key characteristic of MIS robots, such that the surgical tools pivot around their incision ports and thus avoid damage on the surrounding tissue. This research focuses on creating an RCM mechanism with optimal device footprint. Its ultimate aim is to minimise the space occupied by individual RCM robotic arm to promote cooperation among multiple robotic arms and human surgeons.