On inverse kinematics and trajectory planning for tele-laparoscopic manipulation
On inverse kinematics and trajectory planning for tele-laparoscopic manipulation
复制标题
远程腹腔镜操作的逆运动学和轨迹规划
DOI：
10.1109/robot.1999.770359
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
S. Payandeh
中科院分区：
文献类型：
--
作者：
A. Faraz;S. Payandeh
研究了远程腹腔镜机械手的运动学建模、求解和轨迹规划。这种机械手可以通过远程操作系统用于腹腔镜工具的远程定位。具体来说，本文建立了一个典型的可用于远程手术的操作系统的运动学模型。对典型的腹腔镜工具轨迹中的两个运动约束进行了运动学逆解。这些都是刀具的定轴旋转及其直线运动。仿真结果验证了模型和解决方案的有效性。
Addresses the kinematic modelling, solutions and trajectory planning of a tele-laparoscopic manipulator. This type of manipulator can be used in remote positioning of laparoscopic tools through a tele-operating system. Specifically the paper models kinematics of a typical manipulating system which can be used in such tele-surgery. Inverse kinematics solutions are also obtained for two kinematically constrained motions which are part of a typical trajectory of the laparoscopic tools. These are fixed axis rotation of the tool and its straight line motion. Simulation results are presented to demonstrate the validity of such models and solutions.