On inverse kinematics and trajectory planning for tele-laparoscopic manipulation

Author

Faraz, Ali ; Payandeh, Shahram

Author_Institution

Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada

Volume

3

fYear

1999

fDate

1999

Firstpage

1734

Abstract

Addresses the kinematic modelling, solutions and trajectory planning of a tele-laparoscopic manipulator. This type of manipulator can be used in remote positioning of laparoscopic tools through a tele-operating system. Specifically the paper models kinematics of a typical manipulating system which can be used in such tele-surgery. Inverse kinematics solutions are also obtained for two kinematically constrained motions which are part of a typical trajectory of the laparoscopic tools. These are fixed axis rotation of the tool and its straight line motion. Simulation results are presented to demonstrate the validity of such models and solutions

Keywords

Jacobian matrices; manipulator kinematics; medical robotics; path planning; position control; surgery; telerobotics; fixed axis rotation; inverse kinematics; kinematic modelling; kinematically constrained motions; laparoscopic tools; remote positioning; straight line motion; tele-laparoscopic manipulation; trajectory planning; Abdomen; Kinematics; Laparoscopes; Manipulators; Master-slave; Motion control; Robotics and automation; Robots; Surgery; Trajectory;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on

Conference_Location

Detroit, MI

ISSN

1050-4729

Print_ISBN

0-7803-5180-0

Type

conf

DOI

10.1109/ROBOT.1999.770359

Filename

770359