Mechanical Design and Control System of a Minimally Invasive Surgical Robot System

Abstract

The traditional ultrasonic imaging aided minimally invasive surgery imposes a constraint for surgeons to have high precision in their hand eye coordination. A possible solution to reduce these requirements is robot aided minimally invasive surgery in which the instrument is guided by visual feedback towards the goal defined by the surgeon in the ultrasonic imaging. This paper designs of a radio frequency ablation medical robot system assisting surgeons effective treatment for patients with liver tumors. The medical robot can control the tissue device to track the tumor in real-time with precision. Surgery space, clinical operation requirements and optimize mechanical structure of robots requirement, are the key factors in designing a perfectly performing medical robot structure which is suitable for surgeons in their operation environment. The nonlinear and uncertain movement of the tumor needs a control system which can control and localize the tumor accurately in real time and guarantees the safety. Kinematics modeling and analysis is done to compute kinematics solutions. Experimental results have shown the medical robot system has reliable performances and can assist surgeons to operate the tissue ablation device, which overcome the minimal invasive surgery mainly depend on the experiences of the surgeons. The development of this medical robot system contributes to the promotion and popularization of the minimal invasive surgery.