A Study on Developing the Manipulator Control System of Surgery Robot

Abstract This paper presents the efficient laparoscope robot manipulator which is automatically controlled by visual servo control. The manipulator was controlled for its end position to have corresponding velocity defined in the global coordinate space from the laparoscope’s visual information. The instrumental tip positions were detected and desired spatial position was derived to move the clinical viewing plane, then visual servoing task was accomplished. Our manipulator has some advantages that it can automatically track the clinically important view by laparoscope’s images without any other operator. Four degree of freedom manipulator equipped a laparoscope holder crossly linked with universal joint-type passive rings connection. Expanded working space and surgical efficiency are accomplished from slant linking structure between manipulator and laparoscope. Geometrical analysis of laparoscope motion in the abdominal space through trocar was inspected to have reliable positional accuracy and controllability. Entire laparoscope robot system was designed to be easily set up and controlled in operation room since it has a few subsidiary facilities.Key Words : Laparoscopic surgery, Inverse kinematics, Visual servo control, Universal joint