Abstract
Robotic surgery or robot-assisted surgery, allows doctors to conduct a wide range of complex procedures. It’s precision, flexibility, and control are more efficient than traditional approaches. A robotic arm is the most commonly used clinical robotic surgical system worldwide. A typical robotic arm includes an arm for camera and/ or mechanical arm for variety surgical instruments attached to it. They are like human arms but with improved efficiency of payload handling. The mapping of a kinematic model with accuracy is the most critical part of a robotic manipulator in order to achieve these demanding expectations. Various researchers in the literature have made substantial contributions in this direction. In 1995, Denavit and Hartenberg proposed the famous D-H parameters technique. This approach is used in the kinematic analysis of a five-DOF spatial manipulator called the 5-DOF Lynx6 Robotic Arm, in the current study. The proposed study includes a comparative analysis of forward kinematics of the 5-DOF Lynx6 Robotic Arm using analytical and computational approaches. The analytical method will include the representation of the end-effector using a transformation matrix and the same is compared computationally by using MATLAB. This study derives a comprehensive analytical solution using matrix algebra to the forward and inverse kinematics of a 5-DOF robotic arm. The proposed strategy is simple yet effective to implement in practice. A number of numerical simulations were performed to verify this strategy. A simulation and visualization of the workspace of the robotic arm is also done using MATLAB. This workspace shows us the set of points reached by the end-effector giving us an understanding of the scope of the robot and its reach and mobility for different types of surgery. As an outcome of this study, we found that the Lynx-6 robotic arm can be used in robot assisted laparoscopy and its effectiveness can be further increased with few modifications.
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