Master-Slave Mapping Method for three-Axis Intersection Laparoscope Arm

As an important step to improve the intelligent level of surgery, robot-assisted surgery system has become a hot research content. In order to solve the problem of remote center configuration and master-slave motion control of surgical manipulator, a new type of three-axis intersection remote center structure is designed, and the mechanism of the manipulator is designed. Secondly, the forward and inverse kinematics models of the surgical manipulator are established based on D-H method, and the simulation verification is carried out with MATLAB software. Based on the kinematics model, a master-slave consistent motion mapping algorithm based on window coordinate system is established. Finally, the virtual simulation system of the laparoscope arm is built by OpenGL, and the master-slave motion algorithm is simulated and verified by Geomagic Touch master hand.