Adaptive robot-assisted system and method for evaluating the position of the trocar in a robot-assisted laparoscopic surgery intervention

Abstract

An adaptive robot-assisted system and a method for evaluating the position of the trocar in a robot-assisted laparoscopic surgery intervention are proposed. The system includes a surgical robot with robotic arms, each arm securing, using passive joints, a surgical instrument suitable for being coupled to a trocar. The system also includes a control unit, a command station, and sensors for measuring angles α and β of the axes of rotation of the passive joints. The control unit performs a dynamic estimation of the position of a trocar by comparing, for each of the movements of the surgical instrument in the abdominal cavity, the measured angles α and β with the theoretical angles α and β, and performs a correction of or a parameter ρ by positively negatively increasing it in each of said movements according to the sign value of the error obtained in the comparison.