KINEMATICS OF WRISTED LAPAROSCOPIC INSTRUMENTS

摘要

Systems, methods, and computer program products for determining joint angles of a wristed laparoscopic tool of a robotic surgical instrument are disclosed. The method includes providing a first robotic arm where the robotic arm includes surgical instrument having a proximal end and a distal end and the tool is disposed at the distal end of the instrument. The tool has an elbow joint, a wrist joint, and a distal-most end. A three-dimensional position of the wrist joint is determined based on a three-dimensional position and orientation of the distal-most end. A three dimensional position of the elbow joint is determined based on the three-dimensional position of the wrist joint. A first angle corresponding to a twist of the tool, a second angle corresponding to an elbow joint angle of the tool, a third angle corresponding to a wrist angle, and a fourth angle corresponding to an open/close angle of the tool are determined.