Analysis and validation on dexterity of laparoscopic robot

摘要

In order to make gestures of a laparoscopic robot satisfied to the surgical procedure in minimally invasive surgery, the dexterity distribution of the robot was studied on the concept of service sphere, service point and service region. According to the structural feature of the laparoscopic robot with seven DOFs, an analytic solution was obtained by the method of position joints detaching to gesture joints. The dexterity of the robot was studied for the requirement of minimally invasive surgery, therefore, the task dexterity distribution was obtained by the numeric method in workspace. In order to demonstrate the robot suitability to develop the task it has been designed for, the calculation of inverse kinematics and distribution of task dexterity were validated. Finally, the simulation based on the task dexterity distribution was carried out. The control algorithm and path planning can be realized on the basis of kinematics and dexterity analysis.