Control movement scheme based on manipulability concept for a surgical robotic assistant

This paper proposes a Cartesian control scheme applied to a robotic assistant for laparoscopic surgery. This system´s main characteristic is that it emulates the movements of a human assistant, guiding the laparoscopic camera with precision to focus on the area in question inside the patient. Furthermore this control scheme requires adjustment of certain parameters in order to prevent saturation of the manipulator´s actuators, and therefore the robot has been studied in terms of manipulability. The proposed movement control scheme has been implanted in the ERM robot used to carry out trials on thirty two patients