A kinematics method of automatic visual window for Laparoscopic Minimally Invasive Surgical Robotic System

摘要

Aims to decrease the work load in the operation and enhance the robot automatic level, this paper proposes a new kinematics method of automatic 3D visual window for Laparoscopic Minimally Invasive Surgical Robotic System (LMISRS) based on the kinematics model of laparoscope arm and the motion of the micro devices of the 2 instrument arms and the view angle of 3D visual window, thus establishing the automatic kinematics algorithm of laparoscope arm through kinematics analysis and viewpoint control, and verifying it with a kinematics sample.