Motion planning for the intervention therapy robot system

The 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 model of the framework is set up. By kinematics modeling and analysis, the quintic polynomial interpolation is adopted in trajectory planning for the robot locomotion control. The simulation results show that it can guarantee the continuous of joints position, velocity and acceleration, the robot movement smooth is essential to the doctor, patient and robot itself, which contribute to improve the safety of the people and stability of the robot.