A kinematics method of automatic visual window for Laparoscopic Minimally Invasive Surgical Robotic System

Author

Lingtao Yu ; Zhengyu Wang ; Liqiang Sun ; Wenjie Wang ; Tao Wang

Author_Institution

Coll. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin, China

fYear

2013

fDate

4-7 Aug. 2013

Firstpage

997

Lastpage

1002

Abstract

Aims to decrease the work load in the operation and enhance the robot automatic level, this paper proposes a new kinematics method of automatic 3D visual window for Laparoscopic Minimally Invasive Surgical Robotic System (LMISRS) based on the kinematics model of laparoscope arm and the motion of the micro devices of the 2 instrument arms and the view angle of 3D visual window, thus establishing the automatic kinematics algorithm of laparoscope arm through kinematics analysis and viewpoint control, and verifying it with a kinematics sample.

Keywords

endoscopes; medical robotics; robot kinematics; surgery; automatic 3D visual window; automatic kinematics algorithm; instrument arms; laparoscope arm; laparoscopic minimally invasive surgical robotic system; microdevice motion; robot automatic level enhancement; robot automatic level operation; viewpoint control; work load; Equations; Instruments; Kinematics; Laparoscopes; Mathematical model; Vectors; Visualization; Automatic visual window; Kinematics method; Laparoscopic surgery; Surgery robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation (ICMA), 2013 IEEE International Conference on

Conference_Location

Takamatsu

Print_ISBN

978-1-4673-5557-5

Type

conf

DOI

10.1109/ICMA.2013.6618051

Filename

6618051