Remote Center of Motion and Synchronized Rotation for a Motorized Surgical Table

Motion coordination between the operating table and imaging or surgical devices is becoming increasingly relevant for minimally invasive procedures in the hybrid operating room. In this paper, we presented a mathematical framework for the generation of a virtual remote center of motion (RCM) for a 5 degrees-of-freedom (DOFs) motorized surgical table. The capability of the table to synchronize its orientation to a rotating paired medical device was also addressed. The table inverse kinematic problem was solved by efficient algorithms, which were tested in a virtual simulation environment using a parametrized table model. The proposed solutions support arbitrary RCM position and can be adapted to different 5-DOFs table models by parameter tuning.