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| Hauptverfasser: | , , , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| Online-Zugang: | https://arxiv.org/abs/2603.28240 |
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| _version_ | 1866911553458012160 |
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| author | Mariano, Federico De Momi, Elena Berselli, Giovanni Jovanova, Jovana Herder, Just L. Mattos, Leonardo S. |
| author_facet | Mariano, Federico De Momi, Elena Berselli, Giovanni Jovanova, Jovana Herder, Just L. Mattos, Leonardo S. |
| contents | This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasitic motion. Based on the Tetra II concept, the end-effector is placed outside the tetrahedral flexure to improve line of sight, facilitate sterilization, and allow rapid tool release. Design proceeds in two stages: mobility panels are sized with a compliance-based isotropy objective, then constraining panels are synthesized through finite-element feasibility exploration to trade stiffness isotropy against RCM drift. The joint is modeled with beam elements and validated via detailed finite-element analyses, including fatigue-bounded stress constraints. A PA12 prototype is fabricated by selective laser sintering and characterized on a benchtop: a 2 N radial load is applied at the end-effector while a 6-DOF electromagnetic sensor records pose. The selected configuration produces a stiffness-ellipse principal axis ratio (PAR) of 1.37 and a parasitic-to-useful rotation ratio (PRR) of 0.63%. Under a 4.5° commanded rotation, the predicted RCM drift remains sub-millimetric (0.015-0.172 mm). Fatigue analysis predicts a usable rotational workspace of 12.1°-34.4° depending on direction. Experiments reproduce the simulated directional stiffness trend with typical deviations of 6-30%, demonstrating a compact, fabrication-ready RCM module for constrained surgical access. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_28240 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Off-Axis Compliant RCM Joint with Near-Isotropic Stiffness and Minimal Parasitic Error Mariano, Federico De Momi, Elena Berselli, Giovanni Jovanova, Jovana Herder, Just L. Mattos, Leonardo S. Robotics This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasitic motion. Based on the Tetra II concept, the end-effector is placed outside the tetrahedral flexure to improve line of sight, facilitate sterilization, and allow rapid tool release. Design proceeds in two stages: mobility panels are sized with a compliance-based isotropy objective, then constraining panels are synthesized through finite-element feasibility exploration to trade stiffness isotropy against RCM drift. The joint is modeled with beam elements and validated via detailed finite-element analyses, including fatigue-bounded stress constraints. A PA12 prototype is fabricated by selective laser sintering and characterized on a benchtop: a 2 N radial load is applied at the end-effector while a 6-DOF electromagnetic sensor records pose. The selected configuration produces a stiffness-ellipse principal axis ratio (PAR) of 1.37 and a parasitic-to-useful rotation ratio (PRR) of 0.63%. Under a 4.5° commanded rotation, the predicted RCM drift remains sub-millimetric (0.015-0.172 mm). Fatigue analysis predicts a usable rotational workspace of 12.1°-34.4° depending on direction. Experiments reproduce the simulated directional stiffness trend with typical deviations of 6-30%, demonstrating a compact, fabrication-ready RCM module for constrained surgical access. |
| title | Off-Axis Compliant RCM Joint with Near-Isotropic Stiffness and Minimal Parasitic Error |
| topic | Robotics |
| url | https://arxiv.org/abs/2603.28240 |