Remote center of motion control for surgical robots

To control a remote center of motion (RCM) of a surgical robotic system, possible configurations of a robotic manipulator are searched for configurations that can provide a maximum overlap between a working area of a surgical instrument and a target anatomical structure. Forces at the RCM may be measured, such as using one or more sensors on the cannula or in an adapter connecting the robotic manipulator to the cannula. The measured force is used to determine a change in the RCM to minimize the force exerted on the patient at the RCM. According to this change, the configuration of the robotic manipulator may be dynamically updated. Various aspects of this RCM control may be independent of each other or combined with each other, such as to optimize calibration of the work area with the target anatomy, to minimize forces at the RCM, and/or to dynamically control the configuration of the robotic manipulator based on the work area calibration and measurements of the forces. 为了控制外科手术机器人系统的远程运动中心(RCM)，对机器人操纵器的可能构型进