Solution to the Problem of Positioning the Surgical Assistant Robot for Manipulation of the Soloassist® Endoscope (Aktormed)

Among the most rapidly developing areas of modern medicine, minimally invasive surgery occupies a prominent position. One of the modern means of performing operations is the Soloassist® endoscope manipulation system. It is a robotic endoscope holder controlled by a minijoystick attached to the main instrument or by voice commands. The mechanical part of the Soloassist® system has the form of an open kinematic chain. The position problem is to find the rotation angles of the holder given the position of the end point of the tool.