Analysis of Kinematics of Robotic Arm used for Robotic Assisted Surgery

摘要

R-MIS (Robotic assisted Minimally Invasive Surgery) is the future of surgeries allowing surgeons to perform the surgery with precision, comfort and accuracy even from the remote location. The use of the robotics in the surgery has reduced immense possibility of complication during the surgery. A robotic arm is simulated in MATLAB for R-MIS and the various drawbacks and difficulties are studied in this paper. Robotic Arm of six DOF (degree of freedom) is simulated and programmed to follow the pattern of input signal and then the lag, error, feedback response limitations were analyzed to better understand the restriction of the R-MIS. The forward and inverse kinematics designed for the arm showed the basic principle behind the arm movements.