Endoscopic Camera Manipulation planning of a surgical robot using Rapidly-Exploring Random Tree algorithm

摘要

In this paper, we propose an automatized Endoscopic Camera Manipulator (ECM) system for da Vinci surgical robot system to relieve surgeon's load in surgery. We also perform a simulation of the ECM motion planning as a basic step for automatized ECM system. We can obtain the motion trajectories of the ECM that make end effector of the ECM to reach a desired target position. We consider the ECM as a four-joint robot arm system and use the RRT (Rapidly-Exploring Random Tree) planning algorithm for this high order joint system. The simulation works properly and it will be helpful in proceeding further research.