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 kinema...

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Bibliografiska uppgifter

Huvudupphov:	Adam Wolniakowski, Vassilis Moulianitis, Roman Trochimczuk, Zhuoqi Cheng, Michał Kuciej, Kanstantsin Miatliuk, Charalampos Valsamos
Materialtyp:	Artigo
Språk:	Inglês
Utgiven:	MDPI AG 2026-03-01
Serie:	Applied Sciences
Ämnen:	robot positioning manipulability robot accuracy surgical robot minimally invasive surgery
Länkar:	https://www.mdpi.com/2076-3417/16/6/2858
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