抄録
In this paper, a robotic laparoscope with three degrees of freedom which can be added to the surgical robot for single port surgery (SPS) developed in our previous study and enables the surgical robot to form the arrangement of the surgical instruments called rotation formation, was developed. In order to control the tip position of the robotic laparoscope in the direction which the surgeon intends, the kinematics of the robotic laparoscope was analyzed. Then, based on the inverse kinematics, a position control system using the PID controller was constructed. The experiments on the tip position tracking control for the robotic laparoscope were executed using the haptic device Omega.7. It was verified that the operator can control the tip of the robotic laparoscope intuitively and the tip position of the robotic laparoscope can track the target position accurately.
