Design and Geometry-Aware Planning of a Novel Probe-Scanning Manipulator with RCM Constraint
Xiao Luo, Zixing Jiang, Man Cheong Lei, Yitian Xian, Yingbai Hu, Ai Dong, Peter Ka Fung Chiu, Zheng Li
Abstract
The remote center of motion (RCM) constraint is a vital requirement in the design of robotic systems for transrectal ultrasound (TRUS) probe-scanning. This paper presents the design and development of a novel RCM-constrained manipulator specifically tailored for TRUS probe-scanning applications. The proposed system features a six-degree-of-freedom (6-DoF) parallel-serial hybrid mechanism that enables the TRUS probe to perform pivot and spin rotations while maintaining the RCM constraint. Subsequently, the kinematic model incorporating the RCM constraint is derived. Additionally, a geometry-aware path planning method is then introduced, considering variations in the desired rotation targets. This method parameterizes distance metrics on SO(3) (a Lie group) using coordinate-free Riemannian geometry, enabling the dynamic optimization of rotation orders to minimize the calculated Riemannian metrics. Furthermore, a smooth rotational trajectory generation method is proposed, constructing rotation curves between the ordered matrices on SO(3) while minimizing angular acceleration. Both simulations and experimental results validate the effectiveness and practicality of the proposed manipulator and its path planning method.
BibTeX
@inproceedings{iros2025_designandgeometr,
title = {Design and Geometry-Aware Planning of a Novel Probe-Scanning Manipulator with RCM Constraint},
author = {Xiao Luo and Zixing Jiang and Man Cheong Lei and Yitian Xian and Yingbai Hu and Ai Dong and Peter Ka Fung Chiu and Zheng Li},
booktitle = {IROS 2025},
year = {2025}
}