Doctor Avoidance and Impedance Control of an Endoscope Robot

Endoscopic minimally invasive surgery robot has been widely used in the medical field which expands the doctor’s surgical capacity, improves the quality of surgery, reduces the suffering of patients, shortens the cure time and reduces the patients’ cost. Considering of combining the advantages of endoscopic minimally invasive surgical robot and experience of a surgeon, it applies the minimally invasive surgery technology into precision surgery areas and then enlarge the application areas of the minimally invasive surgery. The main purpose of this thesis is to design a force controller to accomplish the obstacle avoidance and drag teaching. First of all, we derive the kinematics and dynamic models of the MIS endoscopic manipulator from Robotic Kinematic Control and plan hourglass trajectory during the MIS surgery. We also teach robot how to aim at hole on the abdomen. By impedance control, the manipulator can comply with surgical environment. We can construct drag teaching by mass-damper dynamic model and let doctors safely operate the endoscope with several teaching mode such as the fixed-position mode and the fixed-orientation mode. Finally, we use 6-DOF manipulator and six-axis force sensor to test and verify the proposed algorithm.