Research on the kinematic method of 3D visual window for surgical robot in dynamic vision

Abstract

This article has analysed the problem of controlling the movement of the 3D visual window for the surgery robot operated by the doctors in their habits, and found out the relationship of position and pose between the objective window and the current window, and established kinematic model of the robot arm with a laparoscope, and then analysed the workspace of the end of the laparoscope. According to the above, established the kinematic model of the 3D visual window based on the dynamic vision, the analytical expressions of its kinematic algorithm have been derived, and verified it through a kinematic sample. Index Terms -Surgery robot, Laparoscopic surgery, The movement of the 3D visual window, Kinematics modeling

A new forecasting kinematic algorithm of automatic navigation for a laparoscopic minimally invasive surgical robotic system

“…O. Weede 23 developed a prediction method based on a Markov model, an interference model and trajectory clustering to predict states for the autonomous guidance of the endoscopic camera; it can improve positioning of the endoscope by using a long-term prediction of the instruments' movement. Lingtao Yu 24 proposed a kinematic method of motion of the 3D visual windown in the dynamic vision. It was a preliminary study with a simple example of verification; and then a new kinematic method based on a dynamic visual window was proposed for a surgical robot, 25 in order to achieve operations with user's visual habits under the laparoscopic visual environment.…”