Abstract. Compared with the traditional laparoscopic surgery, the
preoperative planning of robot-assisted laparoscopic surgery is more complex
and essential. Through the analysis of the surgical procedures and surgical
environment, the laparoscope arm preoperative planning algorithm based on
the artificial pneumoperitoneum model, lesion parametrization model is
proposed, which ensures that the laparoscope arm satisfies both the distance
principle and the direction principle. The algorithm is divided into two
parts, including the optimum incision and the optimum angle of laparoscope
entry, which makes the laparoscope provide a reasonable initial visual
field. A set of parameters based on the actual situation is given to
illustrate the algorithm flow in detail. The preoperative planning algorithm
offers significant improvements in planning time and quality for
robot-assisted laparoscopic surgery. The improved method which combines the
preoperative planning algorithm with deep deterministic policy gradient
algorithm is applied to laparoscope arm automatic positioning for the
robot-assisted laparoscopic surgery. It takes a fixed-point position and
lesion parameters as input, and outputs the optimum incision, the optimum
angle and motor movements without kinematics. The proposed algorithm is
verified through simulations with a virtual environment built by pyglet. The
results validate the correctness, feasibility, and robustness of this
approach.