Design and Modeling of PA-10 Virtual Surgery Robot

Abstract

This paper introduces the implementation of a virtual laparoscopic surgery simulator assisted by robot. This type of simulator requires three robots: an endoscope robot (Hibou robot in this case) and two surgical robots (Lapbot robot and PA-10 robot in this case). The three robots are operated by the joystick in cholecystectomy and included in the motion deformation algorithm, which modifies the organ to contact the end organ of robot PA-10, so as to make the simulator more realistic. This result provides a basis for laparoscopic surgery simulation using three auxiliary robots, which is an ideal method for training new surgeons.