Euclidean distance and workspace region based control algorithm for collision avoidance in a laparoscopic surgical robot: MU-LapaRobot

This paper presents an algorithm for controlling the collision avoidance for surgical tools attended to our Minimally Invasive Surgical Robotic system. In our previous work, we have designed and developed Minimally Invasive Surgical Robotics System, MU-LapaRobot for the laparoscopic surgical application. The MU-LapaRobot is designed with mechanically constraint its motion through a small incision point, called remote-center of motion (RCM). The MU-LapaRobot is an active surgical tool holder aimed to use with standard surgical tools based on the collaborative robotic concept. This study is focusing on speed control of the robot initiate once the attached surgical tools are inserted into patient´s body. The motions are controlled based on the operating regions according to the Euclidean distances and overlap workspace between tools and environment. The control is off once the attached surgical tools are retracted out of the patient´s body. The algorithm is relied on the different regions around the operating regions. The motions (translation and rotation) of MU-LapaRobot are improved in its performance, especially, on its higher accuracy and stability without tremor in the operating area after employing our speed control algorithm.