Dynamic modeling and analysis of laparoscope arm for Minimally Invasive Surgical Robot

This paper presents the dynamics analysis of laparoscope arm for Minimally Invasive Surgical Robot (MISR), and the inverse dynamics model of the laparoscope arm is established according to the general equation of multi-body dynamics and Lagrange equations. Complete virtual prototype model of laparoscope arm is established in Adams. The theoretical driving torques/force of the dynamic model are got by comparing the dynamic simulation results in Adams, the dynamic model of the laparoscope arm is demonstrated; According to the actual operative track of laparoscope, intermittent motion is added to the end of laparoscope arm to simulate the real movement. Considering the influence of the trocar-force on dynamic characteristics, a complete dynamical model is established and the influence of the trocar-force on the joints of the robotic arm is analyzed. Lastly, force sensing strategy for the force on trocar point is performed. The dynamical model and analysis are presented to provide the basis of the robotic control.