Robotic Surgery: Remote Center of Motion Arm

This simulator renders the spatial kinematic constraint that defines a robotic surgical manipulator: a remote center of motion (RCM) fixed exactly at the trocar, through which the instrument shaft always pivots no matter how the arm's base sweeps. Adjust sweep angle, insertion depth and wrist articulation to see the arm's base swing freely while the shaft point at the body wall stays pinned in place, and watch a separate wristed joint at the tip add fine dexterity independent of the arm's motion — the mechanical arrangement, distinct from the master console's tremor-filtering and motion-scaling loop, that lets a surgical robot work inside the body without loading the incision.