Design And Research Of Adjustable Angle Endoscope For Minimally Invasive Surgical Robot

Endoscope is an important part for minimally invasive surgical (MIS) robot.This paper puts forward a kind of adjustable angle endoscope concept for MIS robot,the analysis and research including project design, kinematics, workspaces andconfiguration design are involved. The adjustable angle endoscope prototype for MISrobot is successfully developed. The main contents of this paper are as follows:Firstly, according to the application environment of endoscope for MIS robot,based on analysis of the advantages and the disadvantages of the endoscope that arealready existed in the world, the conceptual design of a novel endoscope for MISrobot is proposed. The design can drive the end of endoscopic actively, improvemovement flexibility and spatial accessibility of endoscope effectively, bring greatconvenient for the adjustment of angle view in MIS.Secondly, the kinematics model of the endoscope is established based onactuator space, configure space and task space. The kinematics analysis of the novelendoscope is accomplished by D-H method based on virtual link, and velocityanalysis is introduced by the POE method based on screw theory. Next, according toworkspace simulation, movement flexibility and spatial accessibility can be verified.Finally, based on conceptual design and analysis of the novel endoscope,configuration design and transmission system design are accomplished. At last, theoverall performance is verified by a variety of experiments.