抄録
This paper presents a position control strategy of a surgical robot for Single Port Surgery (SPS). The kinematics of the surgical robot is analyzed and a position control method on the basis of inverse kinematics is proposed to control the surgical robot intuitively. First, the forward kinematics of the surgical robot for SPS is derived using 6 coordinate transformations. Secondly, Jacobian matrix is obtained through the derived forward kinematics. Finally, a numerical solution of the inverse kinematics problem is derived by using the Jacobian matrix and Newton's method. Experiments of position control were carried out, and experimental results are presented.
