Puncture Locating for Laparoscopic Robot in Minimally Invasive Surgery

This paper presents an assistant laparoscopic robot with active and passive joints for helping surgeon in minimally invasive surgery. With the character of passive joints, a method to locate the relative position of patient's puncture to the coordinate system of the robot was provided. Through geometric relationship, the coordinates of patient's puncture were measured, and laparoscope posture is offered for the control of the robot. In order to demonstrate the validity of the method, experiment on location system has been performed, the results and error analysis verified that patient's puncture can be located precisely by using the method, and the laparoscope surgical robot worked well.