Title: Design Of A 6-Dof Surgical Robot Manipulator With Mechanical Remote Center Of Motion Based On Inverse Kinematics
Authors: Hanafi Fadzillah), Sumardi
Volume: 10
Issue: 4
Pages: 58-64
Publication Date: 2026/04/28
Abstract:
Research around surgical robots in the medical world is popular because of their use in MIS (Minimal Invasive Surgery). This surgery allows the patient to undergo a small incision during surgery so that they do not experience excessive bleeding and recover quickly from hospitalization. Therefore, this research discusses the design of a 6-DOF (Degree of Freedom) robot manipulator with a mechanical RCM (Remote Center of Motion). Mechanical RCM allows the robot's rod end effector to move by maintaining a static point, which in the medical world is called the trocar point. With this RCM, the load on the robot control system can be reduced, and the trocar point obtained is fixed. Differential inverse kinematics that utilizes the Jacobian Matrix is used as a robot control system. Because the differential inverse kinematics nature is an iterative method, the trajectory planning algorithm is designed to integrate with the inverse kinematics method. The end effector position obtained through this control method has an average maximum error of 36 mm, with smooth trajectory results resembling a first-order system response.