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 kinematic model of the planar laparoscopic surgical robot system, a method for computing a manipulability objective taking into account the RCM constraint, and a formulation of the optimization problem used to establish the optimal placement of the system with respect to the task. The presented results are backed by a sensitivity analysis measuring the influence of parameter uncertainty on the value of the objective.
Authors
- Vassilis C. Moulianitis (ORCID: https://orcid.org/0000-0003-1822-5091)
- Roman Trochimczuk (ORCID: https://orcid.org/0000-0002-0614-5222)
- Adam Wolniakowski (ORCID: https://orcid.org/0000-0003-1698-1870)
- Charalampos Valsamos (ORCID: https://orcid.org/0000-0003-4417-9295)
- Zhuoqi Cheng
- Kanstantsin Miatliuk
- Michał Kuciej
Institutions
- Bialystok University of Technology (PL)
- University of Peloponnese (GR)
- University of Southern Denmark (DK)
- Maersk (Denmark) (DK)
- University of the Aegean (GR)
Publication Details
- Journal
- Applied Sciences
- Published
- 2026-03-16
- DOI
- https://doi.org/10.3390/app16062858
- Primary Topic
- Soft Robotics and Applications
- Type
- article
- Field-Weighted Citation Impact
- 0.00