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A new forecasting kinematic algorithm of automatic navigation for a laparoscopic minimally invasive surgical robotic system

Published online by Cambridge University Press:  11 February 2016

Lingtao Yu ,
Zhengyu Wang Open the ORCID record for Zhengyu Wang [Opens in a new window] ,
Liqiang Sun ,
Wenjie Wang ,
Lan Wang  and
Zhijiang Du
Lingtao Yu
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, P.R. China E-mails: [email protected], [email protected], [email protected], [email protected], [email protected] State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, P.R. China E-mail: [email protected] Faculty of Engineering, Department of Mechanical Engineering, National University of Singapore, 117575, Singapore
Zhengyu Wang*
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, P.R. China E-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
Liqiang Sun
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, P.R. China E-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
Wenjie Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, P.R. China E-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
Lan Wang
Affiliation:
College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, P.R. China E-mails: [email protected], [email protected], [email protected], [email protected], [email protected]
Zhijiang Du
Affiliation:
State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, 150080, P.R. China E-mail: [email protected]
*
*Corresponding author. E-mail: [email protected]
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Summary

This paper presents a novel forecasting kinematic algorithm for autonomously navigating the 3D visual window of laparoscopic minimally invasive surgical robotic system (LMISRS). By the application of the proposed technique, a constant distribution area ratio of the micro devices can be guaranteed in the visual window; real-time concurrency motion of the visual window of the laparoscope and the mark points of the instruments is realized, i.e. the visual window can keep tracking the movement of the marks automatically, so that the user does not have to switch between the master-slave controlling targets. The implementation of the new technique is summarized as follows: the robotic kinematics and space analytic geometry are thoroughly analyzed and modeled, and a “following kinematic algorithm” is proposed for the visual window of the laparoscope, which tracks the mark points of the instrument arms; a “forecasting kinematic algorithm” is established by using a combination of the “following kinematic algorithm”, the basic visual parameters of 3D visual field, the Verhulst Grey Model and the filtered amendment method. The proposed technique is verified by a series of simulations by using two groups of marks' motion trails with different sampling times, indicating that the technique is accurate, feasible and robust.

Keywords

Surgical robotVisual windowAutomatic navigationVerhulst Grey modelFollowing kinematic algorithmForecasting kinematic algorithm
Type
Articles
Information
Robotica , Volume 35 , Issue 5 , May 2017 , pp. 1192 - 1222
Copyright
Copyright © Cambridge University Press 2016 

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