A new assistant robot system for abdominal minimally invasive surgery

A new assistant robot system for abdominal minimally invasive surgery is proposed in this paper to meet the needs of traditional abdominal surgeries. The system is comprised primarily of a robotic arm system, end-effectors and a master manipulator. A novel remote center mechanism is proposed in the robotic arm system, furthermore, a flexible end-effector and a seven-degree-of-freedom master manipulator are designed independently. Based on this new assistant robot system for abdominal minimally invasive surgery, hand-eye coordination intuitive control is implemented, and relevant experiments are designed to validate the control system and control algorithm.