The use of a structure with a remote fixed point around which a mechanism can rotate is called remote centre of motion (RCM). The technique is widely used in minimally invasive surgery to avoid excess force on the incision site during the robot’s motion. Here we describe the design, fabrication and characterization of an origami-inspired miniature RCM manipulator for teleoperated microsurgery (the mini-RCM has mass 2.4 g and size 50 mm × 70 mm × 50 mm), which is actuated by three independently controlled linear actuators with concomitant sensing (each mini-LA has mass 0.41 g and size 28 mm × 7 mm × 3.6 mm). The mini-RCM has a payload capacity of approximately 27 mN and attains a positional precision of 26.4 μm. We demonstrate its potential utility as a precise tool for teleoperated microsurgery by performing 0.5-mm-square tracing and micro-cannulation teleoperated microsurgical procedures under a microscope. Teleoperation using the mini-RCM reduced the deviation from the desired trajectory by 68% compared to manual operation. In addition, the mini-RCM allows gravity compensation and back drivability for safety. Its compact, simple structure facilitates manufacture.

将具有远程固定点的结构（机械可以围绕该固定点旋转）的使用称为远程运动中心（RCM）。该技术广泛用于微创手术中，以避免在机器人运动期间对切口部位施加过大的力。在这里，我们描述了一种由折纸启发的微型RCM机械手的设计，制造和特性，该机械手由三个独立控制的线性致动器驱动，微型RCM的质量为2.4 g，尺寸为50 mm×70 mm×50 mm。伴随感应（每个mini-LA的质量为0.41 g，尺寸为28 mm×7 mm×3.6 mm）。迷你RCM的有效载荷容量约为27 mN，位置精度为26.4μm。我们通过执行0来展示其作为远程手术显微外科手术的精确工具的潜在效用。在显微镜下进行5平方毫米的描迹和微插管远距离显微手术。与手动操作相比，使用mini-RCM进行的远程操作将与所需轨迹的偏差减少了68％。另外，微型RCM允许重力补偿和向后驱动，以确保安全。其紧凑，简单的结构便于制造。