Research on Workspace of A Two-arm Surgical Robot

The drawbacks of traditional minimally invasive thoracic and celiac surgeries performed by doctors holding instruments directly could be overcame by using robots. In this paper, the forward kinematic model of the two-arm minimally invasive thoracic and celiac surgical robot developed by the authors is established, and the original workspace of two operation instruments of the robot´s two arms in which two operation instruments cooperate is analysed based on it. Due to the complexity of the original workspace leading to the difficulty in finding the shape, position and volume of the original workspace, the redefined workspace and the way to find it are put forward, and the shape, position and volume of the redefined workspace could be found easily by that way.