Remote Center of Motion: Surgical Robot Trocar Pivot

Every laparoscopic robot has to solve the same geometry problem before it can worry about tremor filtering or motion scaling: the instrument shaft must pivot through one fixed point in space — the trocar puncturing the abdominal wall — no matter how the surgeon swings the handle. This simulator renders that Remote Center of Motion (RCM) constraint in 3D. Drive pitch, yaw and insertion depth with RCM engaged and the entry point never moves; switch it off and the same commands are applied through a rigidly-mounted joint instead, and the wall-crossing point drags sideways with every degree, spiking a live lateral-force estimate and a reddening tissue-stress ring around the port.