The paper examines a collisions detection and avoidance problem for two cooperative robot manipulators. The proposed collision detection method is based on the division of workspace into small discrete volume spaces. Each of the discrete volumes have the status “occupied” or “free”. The control system generates restriction signals when the motion along the calculated path will bring the manipulator into occupied volume spaces. A step-by-step algorithm of the collision detection system is given.

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The paper examines the design and modeling of the robotic surgical system that is used for transurethral operations with resectoscopes. The proposed system consists of a robot-manipulator and a control system for a surgeon. A design feature of the robot-manipulator is the presence of free rotation units that ensure the mobility of the instrument together with the holder unit. This design eliminates a patient injury when one is displaced relative to the initial position. Another important feature of the proposed surgical robotic system is the ability to use an existing surgical instrument (resectoscope). The article describes the design, as well as the results of the modeling of the robot in the V-rep system. The parameters of the forces and torques of the executive system of the robot are obtained by simulation.

The paper examines the design of the control system of the surgical robotic complex that is used for transurethral operations with resectoscopes. The proposed system consists of a subsystem for the motion control of the instrument (resectoscope) working part and a subsystem for tracking and stabilizing the patient’s position. The patient’s position tracking system eliminates a patient’s injury when he displaced relative to the initial position. The article describes the design of the patient’s position tracking system. The description of the principle of operation of the tracking system is also presented.