Kinematics Analysis And Simulation Of RCM Constrained Minimally Invasive Surgical Robot

Minimally invasive surgical robot has the advantage of small trauma,rapid recovery.Surgeon operates surgical instruments coordinated for patients according to the image feedback from endoscope.Minimally invasive surgical robot system satisfies remote center of motion(RCM).RCM constrained is an important feature of minimally invasive surgical robot control.This paper focus on inverse kinematic of minimally invasive surgical robot which is constrained with RCM point.First of all,it puts forward a method for calculating robot’s inverse kinematics by an optimization-based methods.In order to increase the speed of arithmetic operation,we proposed a new method for robot inverse kinematics based on its geometry.This method has reached the purpose of to calculate robot’s joint angle quickly and accurately when the robot is with RCM constrained.In addition,regarding of minimally invasive surgical robotic system control strategy,this system uses a master and slave control algorithm which is based on separating of position and orientation.The algorithm can achieve tele-operation in real-time.We have built a simulation system platform,and this system has thronging experimental verified the correctness for control algorithm and timeliness for inverse kinematics algorithm.