An Improved Remote-Center-of-Motion Control Algorithm and Application Feasibility Evaluation

Remote-center-of-motion (RCM) constraint is widely used in all kinds of ophthalmic surgery. The RCM system based on mechanical structure is too large and complex. While the way based on robot control solves these problems well and has better flexibility. Therefore, the research on RCM control is of great significance. In our work, an improved RCM control algorithm based on general robot is proposed, which is characterized by the progressive design of the coefficient of robot control increment, so as to achieve better compliance and stability. In order to verify the application feasibility of our improved RCM control algorithm, numerical simulation and simulation mapping experiments were carried out. The results show that the control process using the improved algorithm is more stable and reliable than the traditional way, and has good application feasibility and expansibility.