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A new kinematics method based on a dynamic visual window for a surgical robot

Published online by Cambridge University Press:  04 September 2013

Lingtao Yu ,
Zhengyu Wang ,
Peng Yu ,
Tao Wang ,
Huajian Song  and
Zhijiang Du
Lingtao Yu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, P. R. China State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150080, P. R. China
Zhengyu Wang*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, P. R. China
Peng Yu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, P. R. China
Tao Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, P. R. China
Huajian Song
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, P. R. China
Zhijiang Du
Affiliation:
State Key Laboratory of Robotics and System (HIT), Harbin Institute of Technology, Harbin 150080, P. R. China
*
*Corresponding author. E-mail: flyman@hrbeu.edu.cn
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Summary

This paper proposes a new effective kinematics method based on the dynamic visual window (DVW) for a surgical robot that is equipped with two instrument arms and one laparoscope arm, to enable doctors to achieve operations with their visual habits under the laparoscopic visual environment. The problem of the consistency principle between the doctor's operations under the visual window's feedback and the master–slave operations of the surgical robot is solved. The kinematics models of the surgical robotic arms are established, and the new kinematics methods based on the DVW of the laparoscope and instrument arms are proposed according to their inverse kinematics with respect to the visual coordinate system. Finally, the proposed kinematics method is verified by simulation experiments based on the theoretical algorithm and the mechanism model; the multiple sets of the simulation data are presented to illustrate the correctness and feasibility of the new method in this research.

Keywords

RoboticsSurgical robotKinematicsDynamic visual windowSimulations
Type
Articles
Information
Robotica , Volume 32 , Issue 4 , July 2014 , pp. 571 - 589
Copyright
Copyright © Cambridge University Press 2013 

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