Kinematic Modeling and Control of a Wire-Driven Surgical Robot

This paper presents a kinematic modeling and control method for a flexible surgical robot designed for narrow cavities. The Denavit-Hartenberg (DH) parameters are used for forward kinematics, while a constant curvature model is applied to the wrist and elbow joints to calculate the relationship between the wire-driven system and joint angles. This modeling approach improves accuracy and provides a basis for future studies on factors like friction and wear. The inverse kinematics is solved using a sequential quadratic programming method, effectively handling joint limits to ensure precise operations in narrow environments. A ROS-based simulation environment and MATLAB were used to validate the inverse kinematics and analyze the robot's workspace. The master-slave control system, utilizing the OMEGA7 device, implements an incremental control method to map the master device to the slave arm. Finally, trajectory data from RVIZ verified the system's accuracy and consistency.