Position Planning for Laparoscopic Robot in Minimally Invasive Surgery

摘要

A position planning strategy based on dexterity and manipulability is proposed for meeting laparoscopic robot's requirement in minimally invasive surgery. Robot moves laparoscope to the desired point and not to interfere with surgical term. In order to demonstrate position planning method to develop tasks it has been designed for, simulation based on concept of configuration space and position planning strategy has been performed, and angle variation of each joints have been presented in virtual environment. Results verify the effectiveness of proposed position planning strategy.