An eight degree-of-freedom robotic endoscope holder

摘要

Laparoscopic minimally invasive surgery has been extensively used in the medical field recently years, due to the small wounds, shorter recovery time and less suffering of patients. Combined with robotic technology, laparoscopic minimally invasive surgical robots can obtain higher surgical accuracy. The main purpose of this paper is to design a force controller to achieve the angle control of an 8-DOF laparoscopic minimally invasive surgical robot. First, we introduce the design of a motor driven endoscope mechanism and deduces the kinematics and dynamic model of the manipulator arm and endoscope. Under the constraint of the celiac incision, a null-space matrix relative to the task space would be derived. Perspective space of the endoscope camera would be analyzed and a null-space impedance control architecture would be constructed so that the endoscope-holding manipulator can provide images with different perspectives in the situation where the target object does move in the picture and does not generate lateral force on the incision.