{"ID":2869917,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.14075","arxiv_id":"2509.14075","title":"RCM Constraint-Consistent Dynamic Control in Surgical Robots","abstract":"Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either at the kinematic level or as task-space objectives, which makes torque-level enforcement under trocar motion and physical interaction difficult to formulate consistently. This paper models the RCM as a rheonomic holonomic constraint and incorporates it into a projection-based inverse-dynamics controller with explicit constrained/free-motion torque decomposition. The resulting formulation unifies kinematic RCM enforcement and task-space tracking at the torque level, while preserving a constraint-consistent structure for residual regulation and null-space compliance. The proposed controller is validated in simulation and on a RAMIS training platform against representative projection-based and constrained-dynamics baselines. Across spiral tracking, varying insertion depth, moving trocar conditions, and human interaction, the method achieves lower RCM residuals and smoother torque profiles while maintaining accurate tool-tip tracking. These results support the use of constraint-consistent torque control for reliable virtual RCM enforcement in surgical robotics. The project page is available at https://rcmpc-cube.github.io","short_abstract":"Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either at the kinematic level or as task-space objectives, which makes torque-level enfo...","url_abs":"https://arxiv.org/abs/2509.14075","url_pdf":"https://arxiv.org/pdf/2509.14075v2","authors":"[\"Yu Li\",\"Hamid Sadeghian\",\"Zewen Yang\",\"Valentin Le Mesle\",\"Sami Haddadin\"]","published":"2025-09-17T15:20:18Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"eess.SY\"]","methods":"[]","has_code":false}