A medical robot system for celiac minimally invasive surgery

摘要

This paper presented a medical robot system for celiac minimally invasive surgery (MIS). A new mechanism was proposed to realize two-dimensional remote center of motion (RCM) with simple structure, and surgical instruments without coupled motion were designed, which greatly improved the performance and manipulability of the robot. The system worked in master-slave control mode. According to the configurations of the robot and the master manipulator developed by the Force Dimension Company, a new method for inverse kinematics solution with error compensation of repetitive feedback was proposed with one solution and satisfactory accuracy. The validity of the system had been proved through animal experiments.