A LESS robotic arm control system based on visual feedback

摘要

Laparo-endoscopic single-site surgery (LESS) with its unique advantages has become the focus in the minimally invasive surgery. However, the existing LESS robots are mostly given open loop control for its arm, which is difficult for the doctor to handle the surgical instruments. In this paper, A magnetic anchor robot for LESS was designed, which can be inserted into peritoneal cavity through just one incision. We use master-slave control system based on visual feedback to achieve closed-loop control for the robot arm. To extract image feature information, we used a pin-hole camera geometry and made mark points on the robotic arm and proposed a marker point coordinate algorithm to realize the real-time stability control of the robot arm. The equivalent model of robotic platform is established and the master-slave control program based on visual feedback is verified by experiment to be feasible.