562015-03-24 , 法政大学大学院理工学・工学研究科
This paper discusses the development of a novel surgical robot for single-port surgery (SPS) and proposes use of the robot’s position control method, which is based on inverse kinematics. The developed surgical robot consists of two forceps manipulators and two robotic arms and can achieve a forceps placement called “rotation formation” that makes it possible to enlarge a surgical-instrument work space from that used with conventional forceps formation. For the pitch motion control, a gravity compensation was proposed to cancel the influence of the gravity, and effectiveness of the proposed gravity compensation was demonstrated through the experiment. The position control method was derived using the Jacobian matrix and Newton’s method. To evaluate the accuracy of the developed surgical robot and the tracking performance of its position control method, position control experiments were conducted; the experimental results are presented here.