Position Control of Active Arms of Da Vinci Robotic Surgical System

The present work presents a way of controlling the position of the active arms of a Da Vinci-type surgical robot. The automatic control for positioning the active arms in the desired positions is considered the existence of a camera placed on the slave system of the Da Vinci robot to provide us with information from these positions. In analysing the position error of the robot's active arm, we will compare the arm's current position versus the target position. The method will be applied to each robotic arm separately. By this, we want to show that the presence of medical staff to handle these arms manually is no longer necessary. Once these positions are reached, the surgeon can begin the surgical intervention.