Design and implementation of a medical robot for celiac minimally invasive surgery

This paper presents the design and implementation of a medical robot for celiac minimally invasive surgery. Firstly, the mechanism structure of the robot is briefly introduced which has the feature of simple structure and high safety. Next, kinematics is presented by using the D-H method and the four groups of arm configuration is proposed with the Maximum Distance Criterion method, which provide the surgeons with guidance of arm configuration setting before operation. Then the hardware structure and the software system of the control system are studied and finally the performance of the robot is tested with the prototype experiments. Experiments show that the designed robot has the good “remote center of motion” performance, accomplishes surgical programming successfully and meets the requirements of the minimally invasion surgery.