Structure Design and Kinematics Analysis of a Laparoscopic Surgery Robot with 7-DOF

A seven-degree-of-freedom laparoscopic surgical robot system is designed for the advantages of minimally invasive surgical robot system in flexibility, safety and precision, and its overall configuration, wrist actuator and wire rope drive mechanism are analyzed and described, and a solution is proposed to solve the problem of mutual entanglement of wire ropes during motion; the coordinate system of corresponding joint axes is established, and the forward kinematics of the robot system is solved based on the D-H parameter table method. The kinematics of the robot system is solved based on the D-H parameter table method, and the inverse kinematics of the robot system is analyzed based on the sequential transposition method of the adjacent joint axes, and its correctness is verified at the same time. The analysis and simulation of the robotic system showed that the system has a reasonable structure and its working space can fully meet the requirements of the corresponding surgery, which will lay a certain theoretical foundation for the subsequent research of such surgical robotic system.