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Kinematic modelling and trajectory planning for a tele-laparoscopic manipulating system

Published online by Cambridge University Press:  09 April 2001

Ali Faraz  and
Sharam Payandeh
Ali Faraz
Affiliation:
Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, Burnaby, British Columbia V5A 1S6 (Canada)shahram@cs.sfu.ca
Sharam Payandeh
Affiliation:
Experimental Robotics Laboratory (ERL), School of Engineering Science, Simon Fraser University, Burnaby, British Columbia V5A 1S6 (Canada)shahram@cs.sfu.ca
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Abstract

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This paper 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 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 constraint 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.

Keywords

Tele-laparoscopic systemKinematic modellingTrajectory planning
Type
Research Article
Information
Robotica , Volume 18 , Issue 4 , July 2000 , pp. 347 - 360
Copyright
© 2000 Cambridge University Press