Project: Kinematic Constraint of RCM in  Robotic Laparoscopic Surgery Toward Intelligent Force Control

I have participated in the development of an autonomous surgical robot for laparoscopic surgery, utilizing the xArm 7 manipulator. The robot was designed to provide surgeons with quasi-haptic feedback by relaying sensory input from the robotic arm during surgical procedures using intelligent force control. This feedback is intended to enhance the surgeon's perception of the environment and improve the control of the surgical instrument, leading to greater precision and reduced tissue damage.

In addition, we have designed optimal control solutions to regulate the movement of the robotic arm through the use of an instrument driving module (IDM) & simulations in the ROS-2 platform, in a real environment.
The instrument has four degree of motion: three rotation & depth of penetration centered at the entry point or RCM point. The optimal control solutions were developed through mathematical optimization, taking into account the constraints of the surgical environment. This approach was intended to achieve the most effective trajectory for the surgical instrument, with the aim of minimizing tissue damage and improving surgical outcomes. By utilizing simulations in a real environment, we are planning to refine the optimal control solutions prior to implementation in actual surgical procedures.