Intuitive control algorithm of a novel minimally invasive surgical robot

摘要

Background: Minimally invasive surgery (MIS) based on computer and robot-assisted technology is becoming more and more popular.Methods: Intuitive motion control implemented by kinematic algorithm of the slave manipulator based on the 3D Display (DD) is proposed to eliminate absonant hand-eye coordination, kinematic dissimilarity and workspace mismatch of the master-slave manipulator and is applied in the novel minimally invasive surgical (MIS) robot developed in our lab. Forward and inverse kinematics of MIS robot are analyzed based on the screw theory. The kinematic algorithm of MIS robot based on the DD is achieved.Results: The trajectory tracking results that the movement trends between the master and slave manipulators consistently validate the effectiveness of forward and inverse kinematics. The simulation results of the kinematic algorithm by virtue of Simulink and SimMechanics sub-modules of the MATLAB and intuitive control experiment that the root mean square error of cumulative position increments is less than 0.5 mm validate effectiveness of intuitive control algorithm.Conclusion: Successful animal experiments furthermore validate the effectiveness of intuitive control algorithm.