Motion planning and experiments validation for a laparoscopic robot

摘要

Minimally invasive surgery (MIS) is an increasingly important approach in operation, where robots play a key role in overcoming the limits set to such techniques through increased precision and dexterity. Laparoscopic robot is used for replacing surgeons to hold laparoscope in MIS. In this paper, according to task analysis in MIS, action of the laparoscopic robot is divided into three parts, each movement corresponds to a motion planning that is researched particularly for enhancing operation efficiency of the laparoscopic robot. Surgeons can operate laparoscopic robot to accomplish operations by combining the three basic kinds of movement. Finally, experiments are carried out to validate effectiveness of the motion planning methods.