Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot

Abstract

This paper aims to optimize the dexterity and best preoperative position of single-hole laparoscopic surgery (SHLS) robot in laparoscopic surgery. A 5DOF SHLS robot was designed with a series-parallel hybrid structure, and the inverse kinematics equation and Jacobian matrix of the SHLS robot were derived, together with the positioning workspace. Then, The dexterity of the SILS robot was analyzed by the conditional number of Jacobian matrix. For the preoperative position, the original gradient projection method was described theoretically, the minimum distance between endoscope end and lesion was taken the objective function, and the position planning based on gradient projection method was used to establish a planning model for the end endoscope position of the robot. And, the optimal position planning based on gradient projection algorithm was applied to the preoperative positioning analysis of the SHLS robot and the MATLAB software was used to simulate position planning. The simulation results further testify that the feasibility and correctness of the workspace, dexterity and positioning plan of SHLS robot, and validates that the SILS robot has a reasonable workspace, sufficient dexterity and optimal position planning to meet the needs of single-incision laparoscopic surgery.