Robotic-assisted minimally invasive surgery (RAMIS) requires accurate enforcement of the remote center of motion (RCM) constraint to ensure safe tool motion through a trocar. Existing virtual RCM controllers are commonly formulated either at the kinematic level or as task-space objectives, which makes torque-level enforcement under trocar motion and physical interaction difficult to formulate consistently. This paper models the RCM as a rheonomic holonomic constraint and incorporates it into a projection-based inverse-dynamics controller with explicit constrained/free-motion torque decomposition. The resulting formulation unifies kinematic RCM enforcement and task-space tracking at the torque level, while preserving a constraint-consistent structure for residual regulation and null-space compliance. The proposed controller is validated in simulation and on a RAMIS training platform against representative projection-based and constrained-dynamics baselines. Across spiral tracking, varying insertion depth, moving trocar conditions, and human interaction, the method achieves lower RCM residuals and smoother torque profiles while maintaining accurate tool-tip tracking. These results support the use of constraint-consistent torque control for reliable virtual RCM enforcement in surgical robotics. The project page is available at https://rcmpc-cube.github.io

翻译：机器人辅助微创手术（RAMIS）要求精确执行远程运动中心（RCM）约束，以确保器械通过套管针时的安全运动。现有虚拟RCM控制器通常在运动学层面或任务空间目标中构建，导致在套管针运动及物理交互下难以一致地实现力矩层面的约束执行。本文将RCM建模为流变完整约束，并将其融入基于投影的逆动力学控制器中，实现约束/自由运动力矩的显式分解。所得公式在力矩层面统一了运动学RCM执行与任务空间跟踪，同时保持约束一致性结构用于残差调控和零空间柔顺。所提控制器在仿真平台和RAMIS训练平台上，与典型基于投影和约束动力学的基线方法进行了验证。在螺旋跟踪、可变插入深度、移动套管针条件及人工交互场景中，该方法在保持精确器械尖端跟踪的同时，实现了更低的RCM残差和更平滑的力矩曲线。这些结果支持使用约束一致性力矩控制实现手术机器人中可靠的虚拟RCM执行。项目页面见https://rcmpc-cube.github.io