Endoscopic Camera Manipulation planning of a surgical robot using Rapidly-Exploring Random Tree algorithm

In this paper, we propose an automatized Endoscopic Camera Manipulator (ECM) system for da Vinci surgical robot system to relieve surgeon´s load in surgery. We also perform a simulation of the ECM motion planning as a basic step for automatized ECM system. We can obtain the motion trajectories of the ECM that make end effector of the ECM to reach a desired target position. We consider the ECM as a four-joint robot arm system and use the RRT (Rapidly-Exploring Random Tree) planning algorithm for this high order joint system. The simulation works properly and it will be helpful in proceeding further research.