Telerobotic simulator in minimal invasive surgery

摘要

This paper presents the concept of multi-level control system for minimal invasive surgery. The overall system is based on Staubli robot which plays the role of a robotic assistant for surgeons in laparoscopic cholecystectomy. The desired movement of the end effector is obtained by a movement of a joystick. In the paper, we present two simulation programs for the control of the Staubli RX60 robot which has been used as the robot assistant.