Simulation model of robotic arm for laparoscopic surgery

Abstract

Many problems that concern the image the surgeon sees arise, during a laparoscopic surgery, such as limited perception of depth and field of view (fov). With a correct modeling of the surgical robot (in our case is the robotic arm AESOP1000) and appropriate image processing algorithms we can give the doctor the ability to have better perception of the space the laparoscope `sees' through its camera(s). One of our objectives deals with robotic arm kinematics and dynamics. AESOP1000 is modeled and simulated through VRML language. We can model an exact virtual space of the patient's abdomen and the trainee can use the robotic arm for a virtual `tour' in it. Using the model, he can observe how the camera is moving in abdomen space but also he can place the camera at every point he wants.