Kirigami-Inspired Thick-Panel Remote Center of Motion Mechanism

Abstract The rapid development of microsurgical robotics is increasingly challenging the adequacy of traditional remote center of motion (RCM) mechanisms. Their inherent rigidity, bulkiness, and limited kinematic flexibility fall short of the escalating demands for portability and ultra-high precision in minimally invasive surgery. To address these limitations, this article introduces a novel, lightweight RCM mechanism that integrates thick-panel design with soft joints inspired by kirigami. By encoding the geometric constraints of a spatial RCM into a foldable, planar thick-panel structure, our design eliminates the need for traditional revolute joints while accurately maintaining the remote center of motion. High-precision, dual-material 3D printing was employed to seamlessly integrate soft joints with rigid panels, resulting in a monolithic mechanism capable of smooth and controlled rotation about a fixed, extra-corporeal point. The feasibility of the proposed design was validated through analytical kinematic modeling and finite element simulations. A fully functional prototype, accompanied by a tailored control system, was fabricated and experimentally tested. This work not only provides a practical pathway toward ultra-miniature and portable surgical robots but also redefines the design paradigm for next-generation RCM mechanisms.