Design and Fabrication of RCM structure used in Surgery Robot System

Minimally invasive surgery is performed by using a slender rod-shaped surgical tool to penetrate into the body through a tiny incision on the surface of the human body. Compared with traditional open surgery, minimally invasive surgery can reduce surgical incisions and surgical scars, shorten recovery time, reduce bleeding volume and complications. At present, minimally invasive puncture surgery is basically performed by experienced physicians. The puncture procedure lasts for a long time and the physician’s energy is limited. Therefore, the development of automated minimally invasive puncture robots is of great significance. This paper studies the structure and control of remote motion centers in minimally invasive surgical robotics.