设计了一种新型柔性远端中心关节，刚度近各向同性且误差极小。
Off-Axis Compliant RCM Joint with Near-Isotropic Stiffness and Minimal Parasitic Error
- 采用分阶段设计法，先优化移动面板，再通过有限元分析合成约束面板。
- 刚度椭圆主轴比1.37，寄生旋转比仅0.63%，旋转偏差小于0.172毫米。
- 适合微创神经内镜手术，结构紧凑、可快速更换工具、易灭菌。
本文提出一种非对称单体柔性远端中心运动（RCM）关节，用于神经内镜操作，兼具近各向同性刚度与极小寄生运动。基于Tetra II概念，将末端执行器置于四面体柔顺结构外部，改善视野、便于灭菌并实现快速换工具。设计分两步：首先以刚度各向同性为目标确定移动面板尺寸，再通过有限元可行性探索合成约束面板，在刚度各向同性与RCM漂移间权衡。使用梁单元建模，并通过详细有限元分析验证，包括疲劳应力约束。采用选择性激光烧结工艺制造PA12原型，在实验台上测试：在末端施加2 N径向载荷，用六自由度电磁传感器记录姿态。所选构型刚度椭圆主轴比（PAR）为1.37，寄生/有用旋转比（PRR）为0.63%。在4.5°指令旋转下，预测的RCM漂移保持亚毫米级（0.015–0.172 mm）。疲劳分析预测可用旋转工作空间为12.1°–34.4°，方向依赖。实验再现模拟的各向异性刚度趋势，典型偏差6–30%，证明该模块紧凑、可制造，适用于受限手术入路。
原文摘要 · Abstract (English)
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.
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