Remote Center of Motion (RCM) Mechanisms for Surgical Operations

Virtual Remote Center of Motion Control for Needle Placement Robots

OBJECTIVE We present an algorithm that enables percutaneous needle-placement procedures to be performed with unencoded, unregistered, minimally calibrated robots while removing the constraint of placing the needle tip on a mechanically enforced Remote Center of Motion (RCM). MATERIALS AND METHODS The algorithm requires only online tracking of the surgical tool and a five-degree-of-freedom (5-...

Classification and type synthesis of 1-DOF remote center of motion mechanisms

Type synthesis of 1-DOF remote center of motion (RCM) mechanisms is the preliminary for research on many multiDOF RCM mechanisms. Since types of existing RCM mechanisms are few, it is necessary to find an efficient way to create more new RCM mechanisms. In this paper, existing 1-DOF RCM mechanisms are first classified, then base on a proposed concept of the planar virtual center (VC) mechanism,...

Remote Implementation of Quantum Operations

Susana F. Huelga, Martin B. Plenio, 3 Guo-Yong Xiang, Jian Li, and Guang-Can Guo Quantum Physics Group, STRI,Department of Physics, Astronomy and Mathematics, University of Hertfordshire, Hatfield, Herts AL10 9AB, UK QOLS, Blackett Laboratory, Imperial College London, London SW7 2BW, UK Institute for Mathematical Sciences, Imperial College London, 53 Exhibition Road, London SW7 2BW, UK Key Labo...

A 2-dof Spherical Remote-Center-of-Motion Manipulator for Haptic Interaction

Surgery simulators comprising virtual reality and haptic feedback provide an environment for sophisticated training of minimally invasive surgery (MIS) and represent an alternative to traditional training methods. One key element of surgery simulators is the force rendering at the surgeon’s instrument handle by a haptic device for the training of the surgeon’s hand-eye coordination. The displac...

Workforce Planning Models for Distribution Center Operations