State of the art in movement around a remote point: a review of remote center of motion in robotics

Abstract

The concept of remote center of motion (RCM) is pivotal in a myriad of robotic applications, encompassing areas such as medical robotics, orientation devices, and exoskeletal systems. The efficacy of RCM technology is a determining factor in the success of these robotic domains. This paper offers an exhaustive review of RCM technologies, elaborating on their various methodologies and practical implementations. It delves into the unique characteristics of RCM across different degrees of freedom (DOFs), aiming to distill their fundamental principles. In addition, this paper categorizes RCM approaches into two primary classifications: design based and control based. These are further organized according to their respective DOFs, providing a concise summary of their core methodologies. Building upon the understanding of RCM’s versatile capabilities, this paper then transitions to an in-depth exploration of its applications across diverse robotic fields. Concluding this review, we critically analyze the existing research challenges and issues that are inherently present in both RCM methodologies and their applications. This discussion is intended to serve as a guiding framework for future research endeavors and practical deployments in related areas.