Kinematics Analysis and Motion Control of Radio Frequency Ablation Surgical Robot

Minimally invasive surgery robot of five degrees of freedom has been developed for assisting surgeons to realize high quality and precise operation in Radio frequency ablation for patients with liver tumors. The minimally invasive surgery robot drives the ablator tool to track the tumor when the tumor moves in real time and precise orientate to the tumor. Through studying of the structure of the robot mechanism, the kinematics modeling of the framework is set up. The algorithm for motion control is deduced through the analysis of direct kinematics and inverse kinematics. The control system has been designed according to the requirements and the safety of the patients and the surgeons. The experiments results have shown that the trajectory generation program and the control system meet the requirements of the ablation surgical robot.